The effect of priority fitness scheme for controlling robustness of gantry crane system

Ramele, Noorlieyana (2015) The effect of priority fitness scheme for controlling robustness of gantry crane system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

In the industrial application, Gantry Crane System (GCS) plays an important role to control the trolley movement and payload oscillation in order to reduce the percentage of accident occurs to the surrounding. To solve the problem, the development of the actual behavior of the dynamic nonlinear GCS is presented by implementing with and without using PID+PD controller. In dynamic model system, Lagrange equation is derived. A combination of the PID+PD controller are used to control the desired position of trolley movement and minimize the angle of payload oscillation. The Particles Swarm Optimization (PSO) is used for tuning the PID+PD controller parameter in term of Overshoot (OS), Settling Time (Ts) and Steady-State Error (SSE) via Priority Fitness Scheme (PFS). Those three type of transient response will be rearranged according to the priority implementation. Then, the simulation show that the system have a better performance when the OS is set as a highest priority followed by Ts and SSE. Finally, the investigation of the robustness of GCS is accomplished by adjusting various desired position, payload mass and cable length.

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