Control of JIB model using PID and LQR optimization
Crane is widely used in heavy loads transportation and hazardous material handling in industry to lift loads from one place to another. The transporting movement of heavy paylod causing n unwanted motion to the payload due to accelaraton and deceleration of crane trolley. To reduce these problems, a...
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| Main Authors: | , , , , |
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| Format: | Article |
| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/2494/ http://eprints.uthm.edu.my/2494/1/control_of_jib_model_using_pid_2.pdf |
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| Summary: | Crane is widely used in heavy loads transportation and hazardous material handling in industry to lift loads from one place to another. The transporting movement of heavy paylod causing n unwanted motion to the payload due to accelaraton and deceleration of crane trolley. To reduce these problems, a conventional Proportional-Integral-Derivative (PID) is proposed with Linear-Quadratic-Regulator (LQR) optimization enable the transfer the loads from one point to another as fast as possible and reducing the excessive movements to dissolve absolutely at the end of the load delivered point. In this method, LQR elements are
used to generate and tune the PID controller gains according to the parameters given and desired specifications. Simulations are performed to demonstate the effectiveness of the proposed control scheme using MATLAB/SIMULINK software.
The simulation results show that the designed controller is effective for load swing suppression and reduction of the excessive movements of the cart. |
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