Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However,...

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Bibliographic Details
Main Authors: Qadri, Munzir, Harjanto, Danang Karuna, Miharja, Jonathan, Astuti, Winda, Mariana, Yosica, Tan, Sofyan, Solihin, Mahmud Iwan
Format: Conference Proceeding
Language:English
Subjects:
Crane
Cranes
Gradient Decent optimization method
Hardware
Lab-scale Gantry Crane
Optimization methods
PD controller
PID controller
Position control
Process control
Simulation
Steady-state
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Summary:Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time.
ISSN:2155-6830
DOI:10.1109/ICEEI59426.2023.10346787