Fuzzy-tuned PID anti-swing control of automatic gantry crane
Anti-swing control is a well-known term in gantry crane control. It is designed to move the payload of gantry crane as fast as possible while the payload swing angle should be kept as small as possible at the final position. A number of studies have proposed anti-swing control using the well-known p...
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| Format: | Article |
| Language: | English English |
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Sage Publications
2010
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| Online Access: | http://irep.iium.edu.my/11427/4/JVC_Fuzzy_Tuned_PID_Ari_Legowo.pdf http://irep.iium.edu.my/11427/7/Fuzzy-tuned_PID_Anti-swing_Control_of_Automatic_Gantry_Crane_2010.pdf |
| _version_ | 1796875879093108736 |
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| author | Solihin, Mahmud Iwan Wahyudi, Martono Legowo, Ari |
| author_facet | Solihin, Mahmud Iwan Wahyudi, Martono Legowo, Ari |
| author_sort | Solihin, Mahmud Iwan |
| collection | IIUM |
| description | Anti-swing control is a well-known term in gantry crane control. It is designed to move the payload of gantry crane as fast as possible while the payload swing angle should be kept as small as possible at the final position. A number of studies have proposed anti-swing control using the well-known proportional, integral, derivative (PID) control method. However, PID controllers cannot always effectively control systems with changing parameters. Some studies have also proposed intelligent-based control including fuzzy control. However, the designers often have to face the problem of tuning many parameters during the design to obtain optimum performance. Thus, a lot of effort has to be taken in the design stage. In this paper Fuzzy-tuned PID controller design for anti-swing gantry crane control is presented. The objective is to design a practical anti-swing control which is simple in the design and also robust. The proposed Fuzzy-tuned PID utilizes fuzzy system as PID gain tuners to achieve robust performance to parameters variations in the gantry crane. A complex dynamic analysis of the system is not needed. PID controller is firstly optimized in MATLAB using a rough model dynamic of the system which is identified by conducting a simple open-loop experiment. Then, the PID gains are used to guide the range of the fuzzy outputs of the Fuzzy-tuned PID controllers. The experimental results show that the proposed anti-swing controller has satisfactory performance. In addition, the proposed method is straightforward in the design. |
| first_indexed | 2024-03-05T22:44:49Z |
| format | Article |
| id | oai:generic.eprints.org:11427 |
| institution | International Islamic University Malaysia |
| language | English English |
| last_indexed | 2024-03-05T22:44:49Z |
| publishDate | 2010 |
| publisher | Sage Publications |
| record_format | dspace |
| spelling | oai:generic.eprints.org:114272017-06-21T02:01:26Z http://irep.iium.edu.my/11427/ Fuzzy-tuned PID anti-swing control of automatic gantry crane Solihin, Mahmud Iwan Wahyudi, Martono Legowo, Ari TJ Mechanical engineering and machinery Anti-swing control is a well-known term in gantry crane control. It is designed to move the payload of gantry crane as fast as possible while the payload swing angle should be kept as small as possible at the final position. A number of studies have proposed anti-swing control using the well-known proportional, integral, derivative (PID) control method. However, PID controllers cannot always effectively control systems with changing parameters. Some studies have also proposed intelligent-based control including fuzzy control. However, the designers often have to face the problem of tuning many parameters during the design to obtain optimum performance. Thus, a lot of effort has to be taken in the design stage. In this paper Fuzzy-tuned PID controller design for anti-swing gantry crane control is presented. The objective is to design a practical anti-swing control which is simple in the design and also robust. The proposed Fuzzy-tuned PID utilizes fuzzy system as PID gain tuners to achieve robust performance to parameters variations in the gantry crane. A complex dynamic analysis of the system is not needed. PID controller is firstly optimized in MATLAB using a rough model dynamic of the system which is identified by conducting a simple open-loop experiment. Then, the PID gains are used to guide the range of the fuzzy outputs of the Fuzzy-tuned PID controllers. The experimental results show that the proposed anti-swing controller has satisfactory performance. In addition, the proposed method is straightforward in the design. Sage Publications 2010-01 Article PeerReviewed application/pdf en http://irep.iium.edu.my/11427/4/JVC_Fuzzy_Tuned_PID_Ari_Legowo.pdf application/pdf en http://irep.iium.edu.my/11427/7/Fuzzy-tuned_PID_Anti-swing_Control_of_Automatic_Gantry_Crane_2010.pdf Solihin, Mahmud Iwan and Wahyudi, Martono and Legowo, Ari (2010) Fuzzy-tuned PID anti-swing control of automatic gantry crane. Journal of Vibration and Control, 16 (1). pp. 127-145. ISSN 1077-5463 http://jvc.sagepub.com/content/16/1/127.short 10.1177/1077546309103421 |
| spellingShingle | TJ Mechanical engineering and machinery Solihin, Mahmud Iwan Wahyudi, Martono Legowo, Ari Fuzzy-tuned PID anti-swing control of automatic gantry crane |
| title | Fuzzy-tuned PID anti-swing control of automatic gantry crane |
| title_full | Fuzzy-tuned PID anti-swing control of automatic gantry crane |
| title_fullStr | Fuzzy-tuned PID anti-swing control of automatic gantry crane |
| title_full_unstemmed | Fuzzy-tuned PID anti-swing control of automatic gantry crane |
| title_short | Fuzzy-tuned PID anti-swing control of automatic gantry crane |
| title_sort | fuzzy tuned pid anti swing control of automatic gantry crane |
| topic | TJ Mechanical engineering and machinery |
| url | http://irep.iium.edu.my/11427/4/JVC_Fuzzy_Tuned_PID_Ari_Legowo.pdf http://irep.iium.edu.my/11427/7/Fuzzy-tuned_PID_Anti-swing_Control_of_Automatic_Gantry_Crane_2010.pdf |
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