Comparative Analysis of Input Shaping Techniques for Sway Control of Nonlinear Crane System

This paper compares output based input shaping with a conventional command shaping in suppressing sway of a nonlinear crane system. The output-based input shaping filter is designed using the output signal of the target system while conventional input shaping filters are designed using the natural frequency and damping ratio of the system. Zero vibration (ZV), zero vibration derivative (ZVD), zero vibration derivative, derivatives (ZVDD) and zero vibration and triple derivative (ZVDDD) were designed and compared with the output based filter to investigate the performances and robustness of the filters. Level of sway reduction of the payload and time response analysis is used to assess the performance of the shapers. Simulation results showed that the output based filter has a better performance and it is more robust compared to the conventional input shapers and does not require model information of the system

Analysis of 3D Gantry Crane System by PID and VSC for Positioning Trolley and Oscillation Reduction

Gantry Crane System is a mechanism in heavy engineering that moves payload such as container from one point to another. Generally, an experienced operators or an experts are required to control the gantry position manually while minimizing the payload vibration or swing oscillation. Therefore, those manpower have to be trained in order to operate the gantry crane system safely and efficiently. Thus, in order to overcome this problem, a controller is implemented to the system. This paper presents a controls strategy of Proportional-IntegralDerivative and Variable Structure Control (PID+VSC) in the gantry crane system. The PID controller is used to control the trolley position while the VSC controller is used to control the payload oscillation. The performances are compared to the Proportional-Integral-Derivative and Proportional-Derivative (PID+PD) controller in terms of the precision of trolley position with the minimization of payload oscillation

An Experimental of 3D Gantry Crane System in Motion Control by PID and PD Controller via PFPSO Optimization

Gantry crane system is widely used for material transportation. In this system, uncontrolled oscillation always be found during the moving process. This problem may extend the carrying time and causes safety problem. This paper presents a method for controlling a Gantry Crane System based on Proportional-Integral-Derivative (PID) controller strategy. A combination of the Priority Fitness Scheme and Particle Swarm Optimization (PFPSO) is used to optimize five parameters of PID and PD controller (KP, KI, KD, KPs and KDs). The proposed method is examined in an experimental platform of 3D INTECO gantry crane system. Then the performance is compared with two other tuning methods which are Zeigler-Nichols (ZN) and Standard Particle Swarm Optimization (PSO). The performances of the system are assessed in terms of trolley position and payload oscillation. The results shown that the optimal parameters obtain from the PFPSO is the smallest and the trolley was able to reach at the desired position without creating an overshoot with low payload oscillation compared to ZN and PSO

HYBRID POSITION AND VIBRATION CONTROL OF NONLINEAR CRANE SYSTEM

This paper presents comparative assessments of input shaping techniques using two different approaches, for sway reduction of cranes system. First, the shaper was designed at maximum load hoisting length while the second was designed at average load hoisting length. These were accomplished using curve fitting toolbox in MATLAB. In both case; Zero Vibration (ZV), Zero Vibration Derivative (ZVD) and Zero Vibration Derivative Derivatives (ZVDD) were designed. Average hoisting length (AHL) shapers performed better than the Maximum hoisting length (MHL) shapers. Proportional integral derivative (PID) was incorporated for position control. After successful implementation, Simulation results show that a precise payload positioning was achieved. AHL-ZVDD has superior performances in sway reduction and robustness.

Disturbance Rejection Experimental In 3D INTECO Gantry Crane System Via PID-VSC Tuned By PFPSO

Gantry Crane System (GCS) is a mechanism in heavy engineering that moves payload from one point to another. Commonly, an experienced operator is required to control the trolley position manually while minimizing the payload oscillation. The transferring process should be done with careful and concentration to ensure the safety environment. Thus, in order to ensure the safety condition, a control strategy of Proportional-Integral-Derivative and Variable Structure Control (PID-VSC) is implemented in the 3D INTECO GCS. The Proportional-Integral-Derivative (PID) controller is used to control the trolley position while the Variable Structure Control (VSC) is used to control the payload oscillation. The parameters of the controllers are defined by Priority-based Fitness Particle Swarm Optimization (PFPSO). The performances are compared to the Proportional-Integral-Derivative and Proportional-Derivative (PID-PD) controller tuned by PFPSO in terms of the precision of trolley position with the minimization of payload oscillation. The robustness of the controller is verified by the injection of internal disturbance in gantry crane system. With the proposed controller, the experimental of 3D INTECO GCS shows that the system is capable of minimizing the payload oscillation while achieving satisfactory trolley position tracking

Proceeding Of Mechanical Engineering Research Day 2016 (MERD’16)

This Open Access e-Proceeding contains a compilation of 105 selected papers from the Mechanical Engineering Research Day 2016 (MERD’16) event, which is held in Kampus Teknologi, Universiti Teknikal Malaysia Melaka (UTeM) - Melaka, Malaysia, on 31 March 2016. The theme chosen for this event is ‘IDEA. INSPIRE. INNOVATE’. It was gratifying to all of us when the response for MERD’16 is overwhelming as the technical committees received more than 200 submissions from various areas of mechanical engineering. After a peer-review process, the editors have accepted 105 papers for the e-proceeding that cover 7 main themes. This open access e-Proceeding can be viewed or downloaded at www3.utem.edu.my/care/proceedings. We hope that these proceeding will serve as a valuable reference for researchers. With the large number of submissions from the researchers in other faculties, the event has achieved its main objective which is to bring together educators, researchers and practitioners to share their findings and perhaps sustaining the research culture in the university. The topics of MERD’16 are based on a combination of fundamental researches, advanced research methodologies and application technologies. As the editor-in-chief, we would like to express our gratitude to the editorial board and fellow review members for their tireless effort in compiling and reviewing the selected papers for this proceeding. We would also like to extend our great appreciation to the members of the Publication Committee and Secretariat for their excellent cooperation in preparing the proceeding of MERD’16