TABLE OF CONTENTS
CHAPTER CONTENTS PAGES
PROJECT TITLE i
DECLARATION iii
DEDICATION v
ACKNOWLEDGEMENT vi
ABSTRACT vii
ABSTRAK viii
TABLE OF CONTENTS ix
LIST OF TABLE xii
LIST OF FIGURE xiii
LIST OF APPENDIX xiv
I INTRODUCTION
1
1.1 Project Introduction
1 1.2
Objective 3
1.3 Problem Statement
3 1.4
Scope Project 4
1.5 Methodology Flowchart
5 1.6
Project Outline 6
II LITERATURE REVIEW
7
2.1 The Gantry Crane Overview
7 2.2
Optimal Control Theory 10
2.3 The Optimal Linear Regulator
12
III RESEARCH METHODOLOGY
14
3.1 The Gantry Crane Model
14 3.2
System Dynamics 16
3.3 Mathematical Modeling Techniques
18 3.3.1
Newton’s law of motion
18 3.3.2
The energy method
19 3.4
Derivation of the Equation of Motion 21
3.5 Simulation System Block
28 3.6
Interfacing 29
3.7 RTWT Set Up
30
IV RESULT AND DISCUSSION
31
4.1 Input Signal
31 4.2
Cording Command 32
4.3 The Output Position and Sway Angle
35
V CONCLUSION AND SUGGESTION
43
5.1 Conclusion
43 5.2
Suggestion 44
REFERENCE 45
APPENDIX 47
LIST OF TABLE
NO TITLE
PAGES 3.1
Parameter value for gantry crane 17
4.1 Analysis Parameter Optimal Control Graph
38 4.2
Analysis Parameter PID Controller Graph 41
LIST OF FIGURE
NO TITLE
PAGES
1.1
The Gantry Crane
2 1.2
Methodology flowchart 5
2.1 A real-world crane system in the harbor
8 2.2
The Model of Gantry Crane 9
3.1 Model of gantry crane
15 3.2
Flowchart of Gantry Crane interface 16
3.3 The modeling of the Gantry Crane
17 3.4
Closed-loop Block system with LQR feedback controller 28
3.5 Interfacing connection
29 3.6
RTWT block system interfacing 30
4.1 Input signal
32 4.2
Output position for LQR controller 36
4.3 Output sway angle for LQR controller
37 4.4
Output position for PID controller 39
4.5 Output sway angle for PID controller
40
LIST OF APPENDIX
NO TITLE
PAGES A
COMPONENTS OF TROLLEY 47
B COMPONENT OF INTERFACING
48
CHAPTER I
INTRODUCTION
1.1 Project Introduction
The crane is a name of machine that used to lift the payload at one location to desire locations. In mechanical sector, their have many type of crane. The type of
crane that has used in this project is a gantry crane. In many case, many engineer were design a system of gantry crane to solve the problem that has occur before. The
problem that has to solve is vibration and swing payload when operating. The gantry crane can’t operate properly during lift a payload and maybe an accident will be
happen. So, the system that has design of engineer is an initiative to solve that’s
problem.
In this project, the optimal controller systems is used to control the gantry crane system to eliminate swaying angle as fast as possible and place the payload at
appropriate location by control the speed of crane. In industrial sector, the optimal control techniques have apply in many function of system such as power supply,
motor torque, amplifier and others. While in gantry crane systems, this technique is implementing to manage the time of accelerating and decelerating crane. Where this
technique exactly focus on decelerating time when the gantry crane is braking. After the gantry crane is move at high speed, payload is potentially producing the sway
angle when the gantry crane is braking. So, the gantry crane systems should be design to control the speed decelerating time to avoid the swaying angle. In other
condition, the linear quadratic regulator is used to constant the speed during the gantry crane is decelerating.
Figure 1.1: The Gantry Crane
Figure 1.1 shows one example of gantry crane that is use at a harbor. This gantry crane actually picks up a container from ships to base or from base to a ship
and then store it properly. The gantry crane always uses to hoist a big payload such as container at harbor. So, in this project a gantry crane model is redesign as similar
with real gantry crane.
1.2 Objective
