IMPLEMENTATION OF POSITION CONTROL, ANTI-SWAY AND ANTI-COLLISION SYSTEMS ON A RUBBER TYRED GANTRY CRANE FOR HUMAN AND ENVIRONMENTAL SAFETY Andi Muh. Farid Parenrengi, Abdul Kadir Muhammad and Pria Gautama
Manufacturing Engineering Master Program, Mechanical Engineering Department, State Polytechnic of Ujung Pandang, Makassar, Indonesia
Abstract
The purposes of this study are to formulate the mathematical model of the system, to propose an effective control scheme to meet safety requirements for human and environment, and to perform simulations and experiments on a laboratory scale gantry crane. The system used in this paper consist of a trolley, a spreader and its load, and an asynchronous motor to drive the trolley. Mathematical model of trolley position and load angle were formulated based on torque-frequency characteristic curve. Two proportional (P) controllers were designed in such a way to drive the trolley, to reduce the sway and to avoid collisions of the load. The system and the proposed control scheme were confirmed through experiments. The simulation and experimental results revealed that the position and the sway of the system can be controlled effectively.
Keywords: Anti- sway, anti - collision, gantry crane, position control.
