Optimal PID Controller Parameters for Nonlinear Gantry Crane System via MOPSO Technique

Jaafar, Hazriq Izzuan and Sulaima, Mohamad Fani and Mohamed, Zaharuddin and Jamian, Jasrul Jamani (2013) Optimal PID Controller Parameters for Nonlinear Gantry Crane System via MOPSO Technique. In: 2013 IEEE Conference on Sustainable Utilization and Development in Engineering and Technology, 30-31 May 2013, Selangor, Malaysia.

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This paper presents development of an optimal PID controller for controlling the nonlinear gantry crane system. The PSO with linear weight summation approach is implemented for finding optimal PID parameters. The effectiveness of variation weight summation is observed in order to find the optimal performances of system. The system dynamic model is derived using Lagrange equation. A combination of five parameters (PID and PD) controllers are 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 linear weight summation approach in controlling system is useful in order to find the required performances according to the needs and circumstances.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering > Department of Control, Instrumentation & Automation
Date Deposited: 20 Feb 2014 06:38
Last Modified: 28 May 2015 04:17
URI: http://eprints.utem.edu.my/id/eprint/11429
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