Sway Reduction on Gantry Crane System using Delayed Feedback Signal and PD-type Fuzzy Logic Controller: A Comparative Assessment

Authors: M.A. Ahmad

Abstract:

This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of sway angle suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.

Keywords: Gantry crane, anti-sway control, DFS controller, PD-type Fuzzy Logic Controller.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1328800

References:

[1] P. Lueg, "Process of silencing sound oscillations," US Patent 2 043 416, 1936.
[2] G.A. Manson, "Time-optimal control of and overhead crane model", Optimal Control Applications & Methods, Vol. 3, No. 2, 1992, pp. 115- 120.
[3] J. Auernig, and H. Troger, "Time optimal control of overhead cranes with hoisting of the load", Automatica, Vol. 23, No. 4, 1987, pp. 437- 447.
[4] B.H. Karnopp, F.E. Fisher, and B.O. Yoon, "A strategy for moving mass from one point to another", Journal of the Franklin Institute, Vol. 329, 1992, pp. 881-892.
[5] C.L. Teo, C.J. Ong, and M. Xu, "Pulse input sequences for residual vibration reduction", Journal of Sound and Vibration, Vol. 211, No. 2, 1998, pp. 157-177.
[6] W.E. Singhose, L.J. Porter, and W. Seering, "Input shaped of a planar gantry crane with hoisting", Proc. of the American Control Conference, 1997, pp. 97-100.
[7] J.T. Feddema, "Digital Filter Control of Remotely Operated Flexible Robotic Structures," American Control Conference, San Francisco, CA, Vol. 3, pp. 2710-2715, 1993.
[8] M.W. Noakes, and J.F. Jansen, "Generalized Inputs for Damped- Vibration Control of Suspended Payloads," Robotics and Autonomous Systems, 10(2): p. 199-205, 1992.
[9] N. Singer, W. Singhose, and E. Kriikku, "An Input Shaping Controller Enabling Cranes to Move Without Sway," ANS 7th Topical Meeting on Robotics and Remote Systems, Augusta, GA, 1997.
[10] N.M. Belanger, Control Engineering: A Modern Approach, Saunders College Publishing, 1995.
[11] H.M. Omar, "Control of gantry and tower cranes", Ph.D. Thesis, M.S. Virginia Tech, 2003.
[12] Wahyudi and J. Jalani., "Design and implementation of fuzzy logic controller for an intelligent gantry crane system", Proceedings of the 2nd International Conference on Mechatronics, 2005, pp. 345- 351.
[13] M. Ramesh, S. Narayanan, "Controlling chaotic motions in a twodimensional airfoil using time-delayed feedback," J. Sound Vibration 239 (5) (2001) 1037-1049.
[14] Z.H. Wang, H.Y. Hu, "Stability switches of time-delayed dynamic systems with unknown parameters," J. Sound Vibration 233 (2) (2000) 215-233.