Classical angular tracking and intelligent anti-sway control for rotary crane system
This paper presents investigations into the development of hybrid control schemes for sway suppression and rotational angle tracking of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using the Euler-lagrange formulation. To study the eff...
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE
2011
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/26201/1/Classical%20angular%20tracking%20and%20intelligent%20anti-sway%20control%20for%20rotary%20crane%20system.pdf |
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| author | Mohd Ashraf, Ahmad Muhammad Salihin, Saealal Mohd Anwar, Zawawi Raja Mohd Taufika, Raja Ismail |
| author_facet | Mohd Ashraf, Ahmad Muhammad Salihin, Saealal Mohd Anwar, Zawawi Raja Mohd Taufika, Raja Ismail |
| author_sort | Mohd Ashraf, Ahmad |
| collection | UMP |
| description | This paper presents investigations into the development of hybrid control schemes for sway suppression and rotational angle tracking of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using the Euler-lagrange formulation. To study the effectiveness of the controllers, initially a classical controller which is collocated proportional-derivative (PD) controller is developed for control of rotary motion. This is then extended to incorporate a non-collocated fuzzy logic controller for control of sway angle of the pendulum. Implementation results of the response of the rotary crane system with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of sway reduction, rotational angle tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. |
| first_indexed | 2024-03-06T12:36:30Z |
| format | Conference or Workshop Item |
| id | UMPir26201 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:36:30Z |
| publishDate | 2011 |
| publisher | IEEE |
| record_format | dspace |
| spelling | UMPir262012020-02-07T07:12:00Z http://umpir.ump.edu.my/id/eprint/26201/ Classical angular tracking and intelligent anti-sway control for rotary crane system Mohd Ashraf, Ahmad Muhammad Salihin, Saealal Mohd Anwar, Zawawi Raja Mohd Taufika, Raja Ismail TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of hybrid control schemes for sway suppression and rotational angle tracking of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using the Euler-lagrange formulation. To study the effectiveness of the controllers, initially a classical controller which is collocated proportional-derivative (PD) controller is developed for control of rotary motion. This is then extended to incorporate a non-collocated fuzzy logic controller for control of sway angle of the pendulum. Implementation results of the response of the rotary crane system with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of sway reduction, rotational angle tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. IEEE 2011 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/26201/1/Classical%20angular%20tracking%20and%20intelligent%20anti-sway%20control%20for%20rotary%20crane%20system.pdf Mohd Ashraf, Ahmad and Muhammad Salihin, Saealal and Mohd Anwar, Zawawi and Raja Mohd Taufika, Raja Ismail (2011) Classical angular tracking and intelligent anti-sway control for rotary crane system. In: 1st International Conference on Electrical, Control and Computer Engineering 2011 (InECCE 2011). , 21-22 June 2011 , Hyatt Regency, Kuantan, Pahang, Malaysia. pp. 82-87.. ISBN 978-1-61284-229-5 (Published) https://doi.org/10.1109/INECCE.2011.5953854 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Muhammad Salihin, Saealal Mohd Anwar, Zawawi Raja Mohd Taufika, Raja Ismail Classical angular tracking and intelligent anti-sway control for rotary crane system |
| title | Classical angular tracking and intelligent anti-sway control for rotary crane system |
| title_full | Classical angular tracking and intelligent anti-sway control for rotary crane system |
| title_fullStr | Classical angular tracking and intelligent anti-sway control for rotary crane system |
| title_full_unstemmed | Classical angular tracking and intelligent anti-sway control for rotary crane system |
| title_short | Classical angular tracking and intelligent anti-sway control for rotary crane system |
| title_sort | classical angular tracking and intelligent anti sway control for rotary crane system |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/26201/1/Classical%20angular%20tracking%20and%20intelligent%20anti-sway%20control%20for%20rotary%20crane%20system.pdf |
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