THE DEVELOPMENT OF POSITIVE INPUT SHAPING FOR ANTI-SWAY CONTROL OF A GANTRY CRANE SYSTEM ZULAIKAH ZULKIFELY
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1 THE DEVELOPMENT OF POSITIVE INPUT SHAPING FOR ANTI-SWAY CONTROL OF A GANTRY CRANE SYSTEM ZULAIKAH ZULKIFELY This thesis is submitted as partial fulfillment of the requirements for the award of the Bachelor of Electrical Engineering (Hons.) (Control & Instrumentation) Faculty of Electrical & Electronics Engineering Universiti Malaysia Pahang NOVEMBER 2009
2 v ABSTRACT The aim of this project is to develop positive input shaping method to reduce sway in a gantry crane system. Gantry crane was used for lifting, lowering load vertically and moving it horizontally. The problem occurs when lifting, lowering and moving the load which causes the crane to sway. The application of positive input shaping involves a technique that can reduce the sway by creating a command signal that cancels its own vibration. The idea of input shaping is implemented by convolving a series of impulse with a reference command. If the impulse sequence causes no vibration, then the convolution product will also cause no vibration. The convolution product is then used as the command to the specified systems. The outcome of this project should result with a technique which can improve the gantry crane system to be an anti-sway gantry crane.
3 vi ABSTRAK Tujuan projek ini adalah bagi membangunkan pembentukan input positif kaedah mengurangkan kuasa dalam satu sistem kren gantri. Kren gantri telah digunakan untuk mencabut, merendahkan beban secara menegak dan bergerak ia secara mendatar. Masalah itu berlaku apabila mencabut, merendahkan dan bergerak beban yang menyebabkan kren untuk menghayun. Permohonan input positif itu pembentukan melibatkan satu teknik yang boleh mengurangkan kuasa dengan mewujudkan isyarat perintah yang membatalkan getarannya yang kendiri. Idea input itu pembentukan adalah melaksanakan oleh convolving satu siri impuls dengan satu perintah rujukan. Jika urutan impuls menyebabkan tiada getaran, ketika hasil pengkonvolutan itu juga akan menyebabkan tiada getaran. Hasil pengkonvolutan kemudiannya digunakan sebagai perintah untuk menentukan sistem-sistem. Hasil projek ini patut mengakibatkan dengan satu teknik yang boleh memperbaiki sistem kren gantri menjadi satu anti kuasa kren gantri.
4 CHAPTER 1 INTRODUCTION 1.1 Overview Crane is important as a lifting machine, generally equipped with wire ropes or chains and sheaves, which can be used to lift and lower materials vertically and horizontally. It uses one or more simple machines to create mechanical advantage and thus move loads beyond the normal capability of a human. Cranes are commonly employed in the transport industry for the loading and unloading of freight, in the construction industry for the movement of materials and in the manufacturing industry for the assembling of heavy equipment. There are many types of cranes such as tower crane, boom crane, overhead crane and gantry crane which have been used extensively in manufacturing industry and construction sites. As cranes function is to move load from one place to another, its efficiency in moving the load is a crucial issue to be taken care of to avoid any incidents. Due to this issue, many researches have been made to control the excessive sway of the payload because it has contributed to several incidents. External disturbances,
5 2 such as wind or motion of the overhead support unit (e.g. the bridge or trolley), can cause the payload to oscillate. In many applications these oscillations have adverse consequences. The swinging of the payload can makes precision positioning time consuming and inefficient for a human operator; and sometimes it can be a risk to the workers at workplace. 1.2 Problem Statement Usually when a gantry crane operates, the cart which carries the load will produce a sway which cause the cart and also the load to be unstable. This can cause accidents. The accidents which caused by cranes have been recorded [1] and this prove that gantry crane can be hazardous. Figure 1.1 and 1.2 shows two types of crane, tower crane and gantry crane which have been use widely in the industry.
6 3 Figure 1.1 Tower Crane Figure 1.2 Gantry Crane
7 4 1.3 Objectives The objectives of this project are; i. To develop positive input shaping technique for anti-sway control of a gantry crane system. ii. To investigate the effects of the difference derivative order of the positive input shaper in terms of level of sway reduction and time response specifications. 1.4 Scopes of Project The scopes of this project are: i. Modeling of the Gantry Crane. Modeling of the gantry crane is required to design the input shaping algorithm. ii. Positive input shaping. Positive input shaping is developed based on positive zero sway (PZS), positive zero sway derivative (PZSD), and positive zero sway derivativederivative (PZSDD) shapers. iii. MATLAB 7.6 For simulation studies, MATLAB 7.6 is used for design purpose before it been transferred for experimental studies. iv. CEM Tools To carry out this project after simulation studies is done; this software will be used to interface the design program with its experimental hardware.
8 5 1.5 Dissertation Organization This thesis consists of five chapters and it is organized as below: Chapter I introduced the background of this project, objectives and scope study and followed by methodology. Chapter II contains the literature review on various technical papers and researches regarding to the modelling and various anti-sway techniques in controlling the excessive sway of the gantry crane. Chapter III contains explanation on methodology of this project. In this chapter, each step in the work methodology flow chart starting from modelling of the gantry crane was explained. Chapter IV consists of experimental results and results analysis. Comparison between each positive input shaping derivative order was done. Chapter V, conclusion. An overall conclusion is stated including recommendations for future works.
9 45 REFERENCES [1] Zainal, Z., (2005)., Modelling and Vibration Control of a Gantry Crane, Master Thesis, Universiti Teknologi Malaysia. [2] Sirri Sunay Gurleyuk, Ozgur Bahadir, Yunus Turkkan and Hakan Usenti, Improved Three-Step Input Shaping Control of Crane System, Issue 6,Vol.7,June [3] Khalid L. Sorensen, William Singhose, Stephen Dickerson. (2006). A controller enabling precise positioning and sway reduction in bridge and gantry cranes. Journal. Available at : [4] Yusop, M., A., (2006)., Input shaping for vibration-free positioning of flexible systems, Master Thesis, Universiti Teknologi Malaysia. [5] Santiago Garrido, M. Abderrahim, Antonio Giménez, Ramiro Diez, Carlos Balaguer, Member, IEEE, Anti-Swinging Input Shaping Control of an Automatic Construction Crane. Journal. Available at: ieeexplore.ieee.org/iel5/8856/ / pdf?arnumber= [6] Hong Choo Yang., (2006)., The Boom Crane Modelling and Development of Anti- Sway Control Scheme for Boom Crane Using Command Shaping Techniques, Degree Thesis, Universiti Teknologi Malaysia. [7] Singer N., Singhose. W, Kriiku E., (1997)., An input shaping controller enabling cranes to move without sway, Master Thesis, American Nuclear Society 7 th Topical Meeting on Robotics and Remote System. [8] M.A. Ahmad, A.N.K. Nasir, M.S. Najib and H. Ishak., Control and Instrumentation Research Group (COINS), Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang (UMP), (2009)., Anti-sway Techniques in Feedback
10 46 Control Loop of a Gantry Crane System; A Comparative Assessment of PD and PDtype Fuzzy Logic Controller, ICEIA Available at IEEE Xplore. [9] M.A. Ahmad, Member, IEEE, M.S. Ramli, R.M.T. Raja Ismail, A.N.K. Nasir and M.A. Zawawi., (2009)., The investigations of PD-type Fuzzy Logic with different polarities input shaping for anti-sway control of a gantry crane system., CITISIA 2009., Universiti Malaysia Pahang.
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