Design of modified PID controllers for 3D crane control

Abstract

From the control viewpoint, 3D crane is a dynamic, nonlinear and multidimensional electromechanical system. In this paper, five control systems using a set–point weighted PID controllers (modified controllers) are designed. These structures and properties are presented. Optimization process of controllers settings based on integral performance indices is made. Simulation tests of control systems are presented. Comparison of integral indices for control systems using classical PID controllers and modified PID controllers on physical model is presented.