Experimental investigations of Low Pass Filter techniques for sway control of a gantry crane system

This paper presents investigations into the implementation of infinite impulse response (IIR) Low pass filter techniques for anti-sway control of a gantry crane system. A lab-scale gantry crane is considered in the experimental work. An unfiltered bang-bang input voltage is used to determine the characteristic parameters of the system for design and evaluation of the low pass filtering techniques. The Butterworth IIR low-pass filter with 3^rd, 6^th, and 9^th orders respectively were designed based on the properties of the system. Implementation results of the response of the gantry crane with the filtering techniques are presented in time and frequency domains. The performances of the filters are examined in terms of level of swing angle reduction, and time response specifications. Finally a comparative assessment of the filter techniques with different orders is discussed and presented.