Comparative Study Between Linear And Intelligent Controllers For Anti-Sway Gantry Crane System

Yahya Mohammed Alkhashi, Feda' Aadeen (2017) Comparative Study Between Linear And Intelligent Controllers For Anti-Sway Gantry Crane System. Project Report. UTeM, Melaka. (Submitted)

Text Comparative Study Between Linear And Intelligent Controllers For Anti-Sway Gantry Crane System - Feda' Aadeen Yahya Mohammed Alkhashi - 24 Pages.pdf - Submitted Version Download (1MB)

Abstract

Gantry crane is a transporting machine system used to transport heavy loads and dangerous materials in industries, factories, high building constructors and shipyards. Therefore, controlling such system is very crucial in the working environment that generally caused the safety issues. There are many controllers have been applied to control the system, so selecting the suitable and functional controller has been a critical matter. In this project, the methods or techniques of controlling the gantry crane system is discussed and compared together. Advantages, disadvantages and performance of each controller are studied and introduced as a comparative study. To be more specific, two type of controllers are being chosen for this project as there are widely used in practical life. Linear and intelligent controllers are the ones to be studied in this project. Proportional-integral-derivative controller (PID) and linear-quadratic-regulator controller (LQR) will represent the linear controllers. Fuzzy logic controller and fuzzy-PID controller will represent the intelligent controllers. The findings show that, from the comparative study between linear and intelligent controllers, Fuzzy and Fuzzy-PID show better performance as compared to PID and LQR controllers. The performance in terms of design complexity, transient response (OS%, Ts, Tp and Tr), steady state error (ess), root-mean-square error (RMSE) and maximum amplitude of oscillation of trolley position and sway have been evaluated for several point-to-point tracking controls. As conclusion, intelligent controllers are suitable to be utilized in gantry crane system.

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