Controller design for gantry crane system using modified sine cosine optimization algorithm

The objective of this research paper is to design a control system to optimize the operating works of the gantry crane system. The dynamic model of the gantry crane system is derived in terms of trolley position and payload oscillation, which is highly nonlinear. The crane system should have the cap...

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Bibliographic Details
Published in:Telkomnika Vol. 19; no. 1; pp. 265 - 276
Main Authors: Abbas, Nizar Hadi, Mahmood, Ahmed Abduljabbar
Format: Journal Article
Language:English
Published: Yogyakarta Ahmad Dahlan University 01.02.2021
Subjects:
Algorithms
Control systems design
Controllers
Cranes & hoists
Design modifications
Design optimization
Design parameters
Dynamic models
Gantry cranes
Load
Optimization algorithms
Optimization techniques
Parameter modification
Proportional integral derivative
Robustness (mathematics)
Scientific papers
Trigonometric functions
ISSN:1693-6930, 2302-9293
Online Access:Get full text
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Summary:The objective of this research paper is to design a control system to optimize the operating works of the gantry crane system. The dynamic model of the gantry crane system is derived in terms of trolley position and payload oscillation, which is highly nonlinear. The crane system should have the capability to transfer the material to destination end with desired speed along with reducing the load oscillation, obtain expected trolley position and preserving the safety. Proposed controlling method is based on the proportional-integral-derivative (PID) controller with a series differential compensator to control the swinging of the payload and the system trolley movement in order to perform the optimum utilization of the gantry crane. Standard sine cosine optimization algorithm is one of the most-recent optimization techniques based on a stochastic algorithm was presented to tune the PID controller with a series differential compensator. Furthermore, the considered optimization algorithm is modified in order to overcome the inherent drawbacks and solve complex benchmark test functions and to find the optimal design's parameters of the proposed controller. The simulation results show that the modified sine cosine optimization algorithm has better global search performance and exhibits good computational robustness based on test functions. Moreover, the results of testing the gantry crane model reveal that the proposed controller with standard and modified algorithms is effective, feasible and robust in achieving the desired requirements.
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ISSN:1693-6930
2302-9293
DOI:10.12928/telkomnika.v19i1.17279