PSO-Tuned PID controller of a gantry crane system

This project presents development of an optimal PID controller for controlling the nonlinear gantry crane system. The tuning method of Particle Swarm Optimization (PSO) with priority based fitness and linear weight summation approaches are implemented for finding optimal PID parameters. The effectiv...

पूर्ण विवरण

ग्रंथसूची विवरण
मुख्य लेखक: Jaafar, Hazriq Izzuan
स्वरूप: थीसिस
भाषा:अंग्रेज़ी
प्रकाशित: 2013
विषय:
Unspecified
ऑनलाइन पहुंच:http://eprints.utm.my/33827/1/HazriqIzzuanBinJaafarMFKE2013.pdf
_version_ 1846216265804283904
author Jaafar, Hazriq Izzuan
author_facet Jaafar, Hazriq Izzuan
author_sort Jaafar, Hazriq Izzuan
description This project presents development of an optimal PID controller for controlling the nonlinear gantry crane system. The tuning method of Particle Swarm Optimization (PSO) with priority based fitness and linear weight summation approaches are implemented for finding optimal PID parameters. The effectiveness of both method are observed in order to find the optimal performances of system. The system dynamic model is derived using Lagrange equation. A combination of PID and PD controllers is utilized for positioning and oscillation control of the system. System responses including trolley displacement and payload oscillation are observed and analyzed. Simulation is conducted within Matlab environment to verify the performance of the controller. It is demonstrated that implementation of PSO is effective to move the trolley as fast as possible to the desired position with low payload oscillation.
format Thesis
id uthm-33827
institution Universiti Teknologi Malaysia
language English
publishDate 2013
record_format eprints
spelling uthm-338272017-07-13T00:59:11Z http://eprints.utm.my/33827/ PSO-Tuned PID controller of a gantry crane system Jaafar, Hazriq Izzuan Unspecified This project presents development of an optimal PID controller for controlling the nonlinear gantry crane system. The tuning method of Particle Swarm Optimization (PSO) with priority based fitness and linear weight summation approaches are implemented for finding optimal PID parameters. The effectiveness of both method are observed in order to find the optimal performances of system. The system dynamic model is derived using Lagrange equation. A combination of PID and PD controllers is utilized for positioning and oscillation control of the system. System responses including trolley displacement and payload oscillation are observed and analyzed. Simulation is conducted within Matlab environment to verify the performance of the controller. It is demonstrated that implementation of PSO is effective to move the trolley as fast as possible to the desired position with low payload oscillation. 2013 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/33827/1/HazriqIzzuanBinJaafarMFKE2013.pdf Jaafar, Hazriq Izzuan (2013) PSO-Tuned PID controller of a gantry crane system. Masters thesis, Universiti Teknologi Malaysia, Faculty of Civil Engineering. http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:74266?queryType=vitalDismax&query=PSO-Tuned+PID+controller+of+a+gantry+crane+system&public=true
spellingShingle Unspecified
Jaafar, Hazriq Izzuan
PSO-Tuned PID controller of a gantry crane system
title PSO-Tuned PID controller of a gantry crane system
title_full PSO-Tuned PID controller of a gantry crane system
title_fullStr PSO-Tuned PID controller of a gantry crane system
title_full_unstemmed PSO-Tuned PID controller of a gantry crane system
title_short PSO-Tuned PID controller of a gantry crane system
title_sort pso tuned pid controller of a gantry crane system
topic Unspecified
url http://eprints.utm.my/33827/1/HazriqIzzuanBinJaafarMFKE2013.pdf
url-record http://eprints.utm.my/33827/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:74266?queryType=vitalDismax&query=PSO-Tuned+PID+controller+of+a+gantry+crane+system&public=true
work_keys_str_mv AT jaafarhazriqizzuan psotunedpidcontrollerofagantrycranesystem

समान संसाधन