Vibration control for a gantry crane system using input shaping

Jamidan, Syazwani (2021) Vibration control for a gantry crane system using input shaping. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This project proposes the implementation of vibration control using input shaping control schemes for a Gantry Crane System (GCS). Two types of input shaping controllers, which are Zero Vibration and Zero Vibration Derivatives are applied to control the vibration. The model of a nonlinear GCS is employed by using Lagrange technique. The effectiveness of the proposed control controllers are verified by using Simulink/Matlab to observe the controller and system performances. This project is divided into two stages, which are Stage 1 is to observe the behavior of the system. The behavior of the system is observed by varying the value for input voltage, payload mass and cable length. Meanwhile, Stage 2 is focused on implementation of input shaping control schemes namely ZV and ZVD for vibration control of the GCS. The behavior of the system implemented with input shaping is compared with an uncontrolled GCS. Then, the dynamic behaviour is observed by varying value for input voltage, payload mass and cable length.

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