THE SWINGING SENSORLESS ANTI-SWING CONTROL  FOR THE AUTOMATIC GANTRY CRANE SYSTEM

Mai Nhật Thiên; Huỳnh Thanh Tường; Lê Minh Thành; Lương Hoài Thương; Ngô Văn Thuyên

doi:10.34238/tnu-jst.5527

THE SWINGING SENSORLESS ANTI-SWING CONTROL FOR THE AUTOMATIC GANTRY CRANE SYSTEM

About this article

Received: 10/02/22 Revised: 31/08/22 Published: 31/08/22

Authors

1. Mai Nhat Thien , Vinh Long University of Technology Education
2. Huynh Thanh Tuong, Vinh Long University of Technology Education
3. Le Minh Thanh, Vinh Long University of Technology Education
4. Luong Hoai Thuong, Vinh Long University of Technology Education
5. Ngo Van Thuyen, Ho Chi Minh University of Technology and Education

Abstract

This paper shows the payload anti-swing controlling methods for the automatic gantry crane system. The mathematical model is built and this anti-swing control used the swinging sensor based on the PID controls. However, the component system difficulty assembles and maintains the swinging sensor, and often costly. Therefore, the swinging sensorless anti-swing control is proposed in this paper. The methods used the soft sensor or the neural network based on the measured position to estimate the payload motion and used the anti-swing PID control. The simulated and a real time experimental result indicated the swinging sensorless anti-swing control method as same as the swinging sensor-based anti-swing control method.

Keywords

DC brushless motor; PID controller; Neural network; Kalman filter; Gantry crane system

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DOI: https://doi.org/10.34238/tnu-jst.5527

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