tailieunhanh - A gantry crane control using ADRC and input shaping

This paper proposes ADRC in combination with Input shaping approach in which ADRC is used to reject disturbance while keeping the simplicity in design as PID controller, and Input shaping plays the role of vibration suppression. Simulations show the effectiveness of the proposed approach. | Journal of Science & Technology 131 (2018) 025-030 A Gantry Crane Control Using ADRC and Input Shaping Do Trong Hieu*, Hoang Van Thang, Tran Van Tung, Nguyen Tri Kien Duong Minh Duc* Hanoi University of Science and Technology, No. 1, Dai Co Viet, Hai Ba Trung, Hanoi, Viet Nam Received: June 06, 2018; Accepted: November 26, 2018 Abstract Gantry cranes are wildly used in various fields such as industry and transportation. There are various approaches to control cranes, but most of them are difficult in design and implementation in practice. Input shaping technique in combination with traditional PID controller is a practical approach but its performance is easily degraded by disturbance and parameter uncertainty. This paper proposes ADRC in combination with Input shaping approach in which ADRC is used to reject disturbance while keeping the simplicity in design as PID controller, and Input shaping plays the role of vibration suppression. Simulations show the effectiveness of the proposed approach. Keywords: ADRC, Extended Observer, Input Shaping. 1. Introduction* new parameter tuning method is proposed in [7]. This control method shows several advantages for disturbance rejection and for process with inaccurate parameters. ADRC is a powerful control method where system models are expanded with a new state variable, including all unknown kinetic and disturbance, that commonly happens in system formulation. The new state is estimated by using the Extended State Observer (ESO). ADRC has been applied for controlling of various systems such as for rigid coupling motion control system [8], decoupling control for multivariable system [9], flexible system [10], three-axis didactic radar antenna control system [11]. ADRC approach is also used to control the payload’s position of crane system [12]. In this paper, in order to further improve the performance of the system while keeping the simplicity in designing the controller for practical use, the combination of .