Gantry crane control: A simulation case study

A simulation teaching experiment to control a gantry crane system is proposed. The control is performed both in open-loop and closed-loop. The open-loop control is based on the Posicast feedforward technique and the closed-loop control uses a two-degrees of freedom configuration. Posicast control is used as a pre-filter outside the feedback loop to enhance the setpoint tracking response and a PID controller is used in the feedback loop to deal with disturbance rejection. Students are required to use a gantry crane animation, to visualize its movement promoting a better perception and control techniques understanding. The experiment was performed by undergraduate feedback control students which provided learning results through a survey questionnaire.