PID Control to Decrease Fluctuation of Load for Tower Crane

Minh-Tam Nguyen*, Van-Dong-Hai Nguyen, Xuan-Hoan Pham, Nhat-Tan Huynh, Quoc-Hung Nguyen, Gia-Chan-Hung Ly, Thanh-Binh Nguyen, Huy-Hoang Nguyen

Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan Street, No. 01, Ho Chi Minh city, Vietnam
* Corresponding author. E-mail:

Robotica & Management, Vol. 26, No. 2, pp. 22-27

Abstract: Tower crane is a multiple-input and multiple-output (MIMO) under-actuated system which is popularly used in both goods tranfering and constructing. In operating process, the loads ,which are transferred by tower crane, such as goods, material,…, are fluctuated. Fluctuation of load takes part of decreasing performance in goods transferring. In this paper, we propose a structure of PID to control tower crane to avoid this fluctuation of load. Simulation and Experimental results and  demonstrate the success of PID algorithm in this research.

Keywords: tower crane, fluctuation of load, PID control.

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