Project Objectives Problem Statement Scopes of Project

Gantry cranes are very common in factories, where they are used to move things along the factory floor as the product is slowly assembled. For instance, if one is building a large metal piece of equipment, the metal parts may arrive on a truck. The truck will park within the operating area of the gantry crane, and the gantry crane can then be used to unload the parts. The gantry crane may also be used to move the parts around, typically along the assembly line as the components are assembled. From the privious project, the gantry crane is controlled by the PIC programming, that is programmed by the time and speed of the motor. In this situation the swing angle of the object can not be controlled. The fundamental motions of a gantry crane consist of traversing, load hosting and load lowering [1]. When the crane is starting to move or the crane is stopping, it induces undesirable swinging of the suspended load. This swinging can caused damage to the payload or other objects in the workplace. Traditionally, an experienced crane operator is required to keep the oscillations under control. But, the operator should be expertise to control the crane. It is because that the payload is free to swing in a pendulum like motion. There are many types of the approach that can be used to implement in gantry crane. Some of the approaches are open-loop and close-loop. The open-loop approach is the input shaping where input shaping is a feedforward control technique for improving the settling time and the positioning accuracy, while minimizing residual vibration, of computer-controlled machines. Moreover the close-loop approach needs the feedback controller to do the correction on the system.

1.2 Project Objectives

The objective of this project is to design the gantry crane system with feedback control method that will drive the system from initial position into a target position without vibration and reducing swing angle using on-off motor commands.

1.3 Problem Statement

Now in our industrial factory, there are so many accidents that involve the workers. One of the accidents is when the workers want to transport the heavy object in a workspace using the forklift. The forklift needs someone to drive it and control in their entire angle such back, front and around it. To reduce the accident in this situation, this gantry crane project are come out to solve the problem, but there are some problem with cranes is that the payload can swing freely. These oscillations pose safety hazards and can damage the payload and other objects in the workplace. Crane travel and transverse motion especially when starting or stopping, induce undesirable swinging on the suspended load. This swinging could cause the suspension rope to leave its groove which could lead to overwrapping and possibly serious accident. So there are some commands on-off motor that can control the oscillations and make it safe.

1.4 Scopes of Project

Firstly, do some researches about a gantry crane system with a feedback control system for suppressing crane oscillations with on-off motors. After that, feasibility study and read up related technical knowledge such as: a non-linear feedback b on-off control Then find the correct calculation to control the system of the motor. In this part, the calculation must be correct so that the control block can functioned correctly. For the simulation part: a Derive the function to control the on-off motor. b Simulate by using the stateflow chart to control the motor by the angle of the swing. c Implement the block function by using the close-loop system. d Develop the mathematical modeling to control the on-off function by using MATLAB.

1.5 Methodology