Speed Control System in Gantry Crane Prototype for Horizontal Axis Using Fuzzy Method

Sway refers to the oscillation or swinging motion of a load caused by changes in acceleration or unstable deceleration between the gantry crane's speed and the load. Gantry cranes are typically used in large, open areas, and sway becomes problematic when transporting items. This motion arises from unstable variations in acceleration or deceleration between the crane's movement and the load. The primary aim of implementing a speed control system in the gantry crane prototype, specifically for the horizontal axis, is to minimize load sway. This is achieved using the fuzzy control method to ensure that the load does not experience excessive swinging. To effectively reduce sway, a control system is necessary to regulate the crane's speed. The fuzzy Sugeno method is applied, and additional components such as the Arduino Uno, HC-SR04 ultrasonic sensor for distance detection, and the MPU-6050 sensor to monitor the load's angle within a stability range of -20° to 20°, are incorporated. The accuracy of the system varies with different loads. Experimental results show varying levels of accuracy based on the weight: 100% accuracy with 0g, 99.97% with 50g, 99.96% with 100g, 99.96% with 200g, 99.97% with 500g, and 99.98% with 1000g.