Hardware-In-The-Loop Simulation (HILS) Based Design and Evaluation of an Intelligent Gantry Crane System
Wahyudi* and Jamaludin Jalani**
*Department of Mechatronics Engineering, International Islamic University Malaysia, PO BOX 10, 50728, Kuala Lumpur, Malaysia
**Department of Mechatronics and Robotics, Kolej Universiti Teknologi Tun Hussein, Onn, Johor, Malaysia
The use of gantry crane systems for transporting payload is very common in industrial applications. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, this paper describes development of an intelligent gantry crane system based on the mechatronics design. A lab-scale gantry crane is designed and then its intelligent controllers are developed. Fuzzy logic controllers are adopted, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. The performance of the proposed intelligent gantry crane system is evaluated on a hardware-in-the-loop simulation (HILS) environment. Moreover robustness of the proposed system is also evaluated experimentally in the HILS environment. The result shows that the proposed intelligent gantry crane system designed based on the mechatronics design approach has better performance than the automatic gantry crane system controlled by classical PID controllers. Moreover the result also shows that the intelligent gantry crane system is more robust to parameter variation than the automatic gantry crane system.