POSITION AND ANTI-SWAY CONTROL FOR A GANTRY CRANE SYSTEM USING FUZZY-TUNED PID CONTROLLER

KANTHA RAO A/L SIMANJALAM

Crane system is widely used to transport payload from one point to another point. When
input signal is applied to a crane system, the trolley will start to accelerate whilst causing swing
of payload. The ability to successfully transfer a payload by fulfilling the requirements is highly
dependent on operator skill, where a simple mistake can lead to accident and fatality. The
objective of this project is to come up with a control system design to automate the crane system
in order to achieve its operating goals. The modeling of the control system for the purpose of this
project is derived based on Euler-Lagrange formulation, and a gantry crane incorporating a
payload is considered. The controller applied was fuzzy-tuned PID. Fuzzy logic has been chosen
because of its ability to mimic human behavior accurately. On top of that, employing simple
structure of PID controller by utilizing fuzzy system as gain tuners is able to improve the
robustness of the crane system to cope with parameter variations. The end result is obtained
through Matlab Simulink and the effectiveness of the controller was investigated in terms of time
response, percentage of overshoot, payload sway and also robustness.

POSITION AND ANTI-SWAY CONTROL FOR A GANTRY CRANE SYSTEM USING