A study on gantry crane control using neural network two degree of PID controller

During the operation of a crane system in the container yard, it is necessary to control the crane trolley position so that the swing of the hanging container is minimized. An automatic control system with high speed and rapid transportation is required. Therefore, we designed a controller to control the crane system with disturbances and weight change. In this paper, we present the neural network two degrees of freedom PID controller to control the swing motion and trolley position. Then we executed the computer simulation to verify the performance of the proposed controller and compared the performance of the neural network PID controller with our proposed controller in terms of the rope swing and the precision of position control. Computer simulation results show that the proposed controller has better performances than neural network PID with disturbances.