Modeling and control design for rotary crane system using MATLAB Simscape Toolbox

Abstract

Rotary crane system is extensively used in many applications to carry payload from one position to another position. The cart and jib of the crane will start to accelerate in linear and rotational motions respectively when input signal to the crane system is applied. This will cause the swinging or swaying of the payload. Therefore, an anti-swing for automatic crane is usually proposed. This project presents the modeling and intelligent control system design for a rotary crane. The modeling and simulation was done using MATLAB Simscape Toolbox which is physical approach of modeling. The mathematical model of the crane was also derived for comparison. The intelligent control system is implemented as Fuzzy-PID controller. The physical modeling approach using MATLAB Simscape Toolbox can ease the modeling process since mathematical modeling approach is usually tedious. The results obtained in the simulation shows that the implemented fuzzy-PID controller is capable of suppressing the sway angle of the load and fast settling time can be observed.