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Control of JIB model using PID and LQR optimization

Abdul Kadir, Herdawatie and Abd Wahab, Mohd Helmy and Tomari, Md. Razali and Shoiat@Ishak, Muhammad Akmal and Hashim, Hairulazwan Control of JIB model using PID and LQR optimization. Compilation of Papers 2009 - VOLUME 2.


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Crane is widely used in heavy loads transportation and hazardous material handling in industry to lift loads from one place to another. The transporting movement of heavy paylod causing n unwanted motion to the payload due to accelaraton and deceleration of crane trolley. To reduce these problems, a conventional Proportional-Integral-Derivative (PID) is proposed with Linear-Quadratic-Regulator (LQR) optimization enable the transfer the loads from one point to another as fast as possible and reducing the excessive movements to dissolve absolutely at the end of the load delivered point. In this method, LQR elements are used to generate and tune the PID controller gains according to the parameters given and desired specifications. Simulations are performed to demonstate the effectiveness of the proposed control scheme using MATLAB/SIMULINK software. The simulation results show that the designed controller is effective for load swing suppression and reduction of the excessive movements of the cart.

Item Type: Article
Subjects: T Technology > TJ Mechanical engineering and machinery
Depositing User: Normajihan Abd. Rahman
Date Deposited: 07 May 2012 00:36
Last Modified: 07 May 2012 00:36
URI: http://eprints.uthm.edu.my/id/eprint/2494
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