Pso-based Pid-pd Controller of a Gantry Crane with Parameter Uncertainties

Abstract

Cranes suffer from excessive swing due to the parameter uncertainties such as payload hoisting and payload mass which may affect the efficiency of the control performances. This paper presents modelling and optimal control of a gantry crane system subjected to parameter uncertainties. The Lagrange method is used for modelling the gantry crane which is derived from the Lagrange equation. An optimal controller is proposed in the system to obtain an efficient swing reduction and accurate trolley position. The proposed controller consists of two feedback control systems namely PID and PD controller which are utilized for tracking the accurate trolley position and reducing the payload swing angle, respectively. An intelligent optimization method is implemented in this study where the Particle Swarm Optimization (PSO) algorithm is used to find the optimal parameter gains for the controllers. For the robustness test, two cases are considered involving changes in payload mass and cable length. The superiority of the proposed method is confirmed by reduction of 17.7% in the maximum swing response over the comparative method.