A novel trajectory online planning and under-actuated control method on positioning and anti-swing for bridge cranes

Abstract

The conventional bridge crane hoisting control method is limited by the complex factors of working conditions and generally adopts cumbersome off-line planning. In view of the problem of the inertia swing of the load caused by the trolley hauling the lifting rope during the transportation of the bridge crane, the trajectory off-line planning methods with the open-loop bring the control parameters to be complicated and tedious. A novel trajectory online planning and under-actuated control method on positioning and anti-swing for the bridge crane is proposed. According to the smooth positioning trajectory, the relationship among the motion parameters of the trolley, load swing angle, and other model parameters in the dynamic model are analyzed. With the dynamic coupling relationship between trolley motion and load swing, the function of anti-swing is designed online without changing the positioning performance. The trajectory online planning of the positioning and anti-swaying is accomplished. With the experimental and programming, the proposed method is compared with other different planning methods. The results show that this method can effectively realize the positioning and eliminating pendulum, and has the convenience of online adjusting parameters and fast response.