Modeling Of A Gantry Crane Using On-Off Motor Implementation

Siti Radhiah, Jumali (2009) Modeling Of A Gantry Crane Using On-Off Motor Implementation. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Crane payloads frequently swing with large amplitude motion that degrades safety and throughput. Open-loop methods have addressed this problem, and has proven effective on crane but just for reducing the sway during and after move. Closed-loop methods have also been used, but generally require the speed of the driving motors to be precisely controlled. This paper develops a feedback control method for controlling motors to cancel the measured payload oscillations by intelligently timing the ensuing on and off motor commands. To generate the on-off motor command the measurement using payload oscillation cancellation and vector input shaper calculation need to be used. The on-off motor command is design to control the trolley movement without vibration and reduce the swing angle of the payload.

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