Optimization of the PID-PD parameters of the overhead crane control system by using PSO algorithm

Abstract

The development of combination of proportional-integral-derivative and proportional- derivative (PID-PD) controller for overhead crane is presented. Due to the pendulum-like settings, the swinging of load has caused many difficulties while operating the overhead crane. Swinging of the load causes unnecessary tension to the cable and structure of the overhead crane, which will compromise the safety of operator and other workers. Overhead cranes should have the ability to move the load to desired point as fast as possible while minimizing the load swing and maintaining the accuracy. Proportional-integral-derivative (PID) controller is used for overhead crane positioning and proportional-derivative (PD) controller for load oscillation. New time-domain performance criterion function is used in particle swarm optimization (PSO) algorithm for the tuning of the PID-PD controller rather than the general performance criteria using error of the system. This performance criterion function monitors the performance in terms of rise time, overshoot, settling time and steady state error of the overhead crane system. The performance of the optimised PID-PD controller is verified with simulation in MATLAB. The PSO optimized PID-PD controllers with new performance criterion are shown effective in improving the step response of the overhead crane position as well as controlled the load oscillation.

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

“…The gantry crane system depends mainly on three variables namely, the trolley displacement from a reference position ( ), the payload swing angle ( ), and the steel wire elongation ℓ( ). The dynamics of the system is given as follows [5,[15][16][17]:…”

“…TELKOMNIKA Telecommun Comput El Control ( 1 ̇2 + 2 (̇2 + 2 l ̇ cos + ℓ 2 ̇2 + 2 ̇ ℓ̇ sin + ℓ̇2 )) (5) and the potential energy of the system is,…”

“…Developing a PID controller with improved PSO algorithm using a priority-based fitness method is implemented in [4], to control the position and oscillation of the gantry crane system. The researchers in [5], developed a combination of PID-PI controller for the crane system to minimize the pendulum-like settings which caused many difficulties and dangerous conditions with new performance criterion function that used to tune the PID-PD controller using PSO algorithm. X. Shao et al [6], proposed a Takagi-Sugeno (T-S) fuzzy modeling and robust Linear Quadratic Regulator (LQR) based PSO algorithm for positioning and anti-swing control for the system.…”

A single and double closed-loop compound anti-sway control method for double-pendulum bridge cranes locating at random position

“…Gu and Xu (2020) propose a novel time-varying gain extended state observer (ESO)-based moving sliding mode control method for anti-sway and positioning control of two-dimensional underactuated overhead cranes. In practice, considering that the proportional-derivative (PD) control has the advantages of simple structure, it is widely studied and applied in anti-sway control of bridge cranes (Aktas et al, 2019;Azmi et al, 2019;Zhang et al, 2019). Moustafa et al (2016) considers the modelling problem of the dynamics of overhead cranes with flexible cable and load hoisting or lowering during crane travel and designs a PD controller to control the crane.…”

“…Zhang et al (2019) present an enhanced coupling PD with sliding mode control method for double-pendulum overhead crane systems. Azmi et al (2019) present the development of combination of proportional-integral-derivative and proportional-derivative (PID-PD) controller for overhead crane. The above closed-loop anti-sway control method is suitable for automatic locating, especially when the desired position of payload is preset.…”