Parameter Tuning For Proportional-Integral-Derivative Controller In Gantry Crane System Using Simulated Kalman Filter Algorithm

Bahari, Rafida (2018) Parameter Tuning For Proportional-Integral-Derivative Controller In Gantry Crane System Using Simulated Kalman Filter Algorithm. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text (24 Pages) Parameter Tuning For Proportional-Integral-Derivative Controller In Gantry Crane System Using Simulated Kalman Filter Algorithm.pdf - Submitted Version Download (435kB)

Abstract

A crane is a machine that lifts, lowers and horizontally moves a heavy load. Almost every types of industries that used to storage heavy load or import-export industry used a crane to move a heavy load from other place to another place.A gantry crane is one of the various types of crane that consist lifting mechanism,hoist travelling mechanism and the crane travelling mechanism.This crane usually uses in shipyard and steel storage yards.Nowadays,because of all things need to be done faster,the mechanism of the gantry crane needs to upgrade to make the movement of the gantry cranes trolley move faster but less oscillation of the payload,so the load damage or drop did not occur.This study aims to upgrade the system of the gantry crane by implement PID method to the controller and tuning the parameter by using Simulated Kalman Filter algorithm.In this study,the best fitness was carried out by manipulated the value of agent and iteration of algorithm.This study give advantage to many others industrial to improve their system.

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