Anti Sway control System of Gantry Crane

Project Title

Anti Sway control System of Gantry Crane

Project Area of Specialization Mechatronics EngineeringProject Summary

Gantry crane is widely used to transfer the heavy load from one place to another, in moving the payload sway is produced in the rope that carries the payload which is unwanted and affects the precision in placing the payload and can also damage the surrounding. Precise manipulation of payloads is difficult with cranes. Oscillation can be induced into the lightly damped system by motion of the bridge or trolley, or from environmental disturbances. To address both sources of oscillation, a combined feedback and input shaping controller is developed. The controller is comprised of three distinct modules. A feedback module detects and compensates for positioning error; a second feedback module detects and rejects disturbances; input shaping is used in a third module to mitigate motion-induced oscillation. In this project we are making the anti-sway control system for gantry crane that will control the sway in rope when moving payload, So we design a system that will minimize the oscillations and run smooth as well as fast speed (greater than normal speed).

Project Objectives

1. design a Model prototype.
2. To fabricate and assembly of structure and components.
3. To enhance the teaching and learning process for controlling sway system
4. To control the fundamental process: speed, direction of motor, oscillation
5. Sway control of pay load.

Project Implementation Method

In this project there are two control units one is side position control of motor and other is sway control of the pay load.

Side position control of motor:

When we start the gantry crane first input signal to the side is given to controller then output of the controller is sent to bridge which controls the direction of the motor (clockwise or counter clock wise).

And the speed of motor is also controlled through potentiometer.

Sway control of the payload:

When input signal is given to the controller to move the payload from one place to another motor starts moving due to the motion oscillations are produced in the rod that lifts the payload these oscillations are measured through sensor and sensor send signal to the PID controller which generates the gain and that gain is sent to motor controller which limits the oscillation.

Benefits of the Project

This project helps students to understand the practical working of gantry crane sway control.

This project helps in understanding the motion of the gantry crane, shifting the payloads.

This project helps in controlling the sway in lifting the payloads.

This project helps in controlling the speed of motors through software as well as manually.

This project helps students to understand the working of PID controller.

Technical Details of Final Deliverable

In this project we are using frame of cast iron  furthermore motor are used to move the payload in required direction within the workspace ,we are using Arduino controller along with motor drivers , programing is done in Arduino which generates the PWM signal which helps in operating the motor, the motor driver is used for controlling direction of stepper motor(clockwise or anticlockwise) these direction can be achieved through switch.

When the motor moves to transfer the payload from one place to another place due motion oscillations are produced these oscillations in the payload are detected through encoder, the output of encoder is sent to PID controller which generates the gain and that gain is sent to motor controller which limits the oscillation.

Final Deliverable of the Project Hardware SystemCore Industry EducationOther Industries Manufacturing , Transportation , Others Core Technology RoboticsOther Technologies OthersSustainable Development Goals Decent Work and Economic Growth, Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	35250
NEMA 17 STEPPER MOTOR	Equipment	2	2000	4000
A4988 MOTOR DRIVER	Equipment	1	250	250
POWER SUPPLY 12V-2A	Equipment	2	250	500
ARDUINO BOARD UNO	Equipment	2	800	1600
DC motor	Equipment	1	2000	2000
Potentiometer with knob	Equipment	8	60	480
SWITCHES	Equipment	10	10	100
weights 6 pcs	Equipment	1	2000	2000
frame	Miscellaneous	1	5000	5000
wheels	Miscellaneous	5	100	500
Miscellaneous	Miscellaneous	1	4000	4000
Dc motor driver	Equipment	1	250	250
Encoder	Equipment	2	785	1570
Controller	Equipment	1	13000	13000