Comparison of Active Sway Control of a Gantry Crane System

This paper presents the use of anti-sway angle control approaches for a two-dimensional gantry crane with disturbances effect in the dynamic system. Delayed feedback signal (DFS) and proportional-derivative (PD) controller are the techniques used in this investigation to actively control the sway angle of the rope of gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of sway angle suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.