comparison of different control algorithms for a gantry crane system比较不同的龙门起重机系统的控制算法.pdfVIP

Intelligent Control and Automation, 2010, 1, 68-81 doi:10.4236/ica.2010.12008 Published Online November 2010 (http://www.SciRP.org/journal/ica) Comparison of Different Control Algorithms for a Gantry Crane System Stefan Bruins HAN University, Arnhem and Nijmegen, The Netherlands E-mail : js_bruins@ Received June 22, 2010; revised September 4, 2010; accepted September 15, 2010 Abstract For a gantry crane system, this paper presents a comparison between four control algorithms. These algo- rithms are being compared on simplicity, stability and robustness. Goal for the controller is to move the load on a gantry crane to a new position with minimal overshoot of the load and maximal speed of the load. An- other goal is to provide an insight in the behaviour of the possible controllers. In this article a parallel P-controller, cascade P-controller, fuzzy controller and an internal model controller are used. To be able to validate and design the controllers a model is derived from the gantry crane. The controllers and the model are being implemented in Matlab Simulink. Finally the controllers are validated and tuned in Labview on a laboratory gantry scrane scale model. Main conclusion is that all presented controllers can be used as a con- troller for the gantry crane system but the fuzzy controller is showing the best performance. Keywords: Gantry Crane, Modelling, Control, Fuzzy, Internal Model Control, Control Algorithms, Scale Model, Labview, Matlab, Simulink 1. Introduction conclusions are being made. A gantry crane is a popular process for educational pur-