THE SWINGING SENSORLESS ANTI-SWING CONTROL FOR THE AUTOMATIC GANTRY CRANE SYSTEM

Abstract

This paper shows the payload anti-swing controlling methods for the automatic gantry crane system. The mathematical model is built and this anti-swing control used the swinging sensor based on the PID controls. However, the component system difficulty assembles and maintains the swinging sensor, and often costly. Therefore, the swinging sensorless anti-swing control is proposed in this paper. The methods used the soft sensor or the neural network based on the measured position to estimate the payload motion and used the anti-swing PID control. The simulated and a real time experimental result indicated the swinging sensorless anti-swing control method as same as the swinging sensor-based anti-swing control method.