1.2 Objective
The objective of this project is to apply the technique of the optimal controller into the gantry crane and to move the payload to the required positions as
fast as possible without swaying payload.
1.3 Problem Statement
In many mechanical and electrical parts that used a motor to control performance of machine has a problem to stop at desire level with high efficiency
and safety. An optimal control strategy is important to control the acceleration and deceleration motor speed. In gantry crane system, the high speed in moving a
payload will be provide a large swaying angle along travel to desire location. In high speed moving of crane, the speed of payload also increase base on speed of crane.
So, swaying angle of payload is potential to become large from initial condition. This situation will cause an accident or crush to the payload.
Sometime a person has high skill and experience able to control the speed of crane to avoid large swaying angle. To overcome this problem, the optimal control
technique is applied to the gantry crane system to control the speed of the gantry crane. Which mean this technique is required to control or manage accelerating and
decelerating of speed gantry crane.
1.4 Scope Project
The scope of this project includes: i.
Do research about gantry crane characteristics ii.
Research and study of system dynamics in gantry crane. iii.
Research and study about the optimal controller technique. iv.
Study and design to create block input system. v.
Analyze the result to minimize the swaying angle.
1.5 Methodology Flowchart
Figure 1.2: Methodology flowchart Study the basic concept of gantry crane.
Study and do research about optimal controller.
Simulation result Start
Derive state differential equation of payload.
Set the configuration parameter
Expect result Interface with MATLAB
Real time implementation. Troubleshooting
Experimental testing
Finish NO
YES
YES NO
Design optimal controller block system
1.6 Project Outline
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