Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane

This paper presents investigations into the development of hybrid control schemes for sway suppression and rotational angle tracking of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using the Euler-lagrange formulation. To study the eff...

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Main Authors:	Mohd Anwar, Zawawi, Mohd Ashraf, Ahmad, Raja Mohd Taufika, Raja Ismail
Format:	Conference or Workshop Item
Language:	English
Published:	2010
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2440/ http://umpir.ump.edu.my/id/eprint/2440/ http://umpir.ump.edu.my/id/eprint/2440/2/Hybrid_Collocated_PD_with_Non-collocated_PID_for_Sway_Control_of_a_Lab-scaled_Rotary_Crane.pdf

id	ump-2440
recordtype	eprints
spelling	ump-24402018-02-06T00:54:32Z http://umpir.ump.edu.my/id/eprint/2440/ Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane Mohd Anwar, Zawawi Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of hybrid control schemes for sway suppression and rotational angle tracking of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using the Euler-lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) controller is developed for control of rotary motion. This is then extended to incorporate a non-collocated PID controller for control of sway angle of the pendulum. Implementation results of the response of the rotary crane system with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of sway reduction, rotational angle tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2440/2/Hybrid_Collocated_PD_with_Non-collocated_PID_for_Sway_Control_of_a_Lab-scaled_Rotary_Crane.pdf Mohd Anwar, Zawawi and Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail (2010) Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane. In: 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010, 15-17 June 2010 , Taichung. pp. 707-711.. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5716123&contentType=Conference+Publications&searchField%3DSearch_All%26queryText%3DComparative+Assessment+of+Feed-forward+Schemes+with+NCTF+for+Sway+and+Trajectory+Control+of+a+DPTOC
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Mohd Anwar, Zawawi Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane
description	This paper presents investigations into the development of hybrid control schemes for sway suppression and rotational angle tracking of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using the Euler-lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) controller is developed for control of rotary motion. This is then extended to incorporate a non-collocated PID controller for control of sway angle of the pendulum. Implementation results of the response of the rotary crane system with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of level of sway reduction, rotational angle tracking capability and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
format	Conference or Workshop Item
author	Mohd Anwar, Zawawi Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail
author_facet	Mohd Anwar, Zawawi Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail
author_sort	Mohd Anwar, Zawawi
title	Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane
title_short	Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane
title_full	Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane
title_fullStr	Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane
title_full_unstemmed	Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane
title_sort	hybrid collocated pd with non-collocated pid for sway control of a lab-scaled rotary crane
publishDate	2010
url	http://umpir.ump.edu.my/id/eprint/2440/ http://umpir.ump.edu.my/id/eprint/2440/ http://umpir.ump.edu.my/id/eprint/2440/2/Hybrid_Collocated_PD_with_Non-collocated_PID_for_Sway_Control_of_a_Lab-scaled_Rotary_Crane.pdf
first_indexed	2023-09-18T21:56:14Z
last_indexed	2023-09-18T21:56:14Z
_version_	1777414097488314368

Hybrid Collocated PD with Non-collocated PID for Sway Control of a Lab-scaled Rotary Crane

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