Trajectory generation for double-pendulum rotary crane

被引：3
作者：
Ouyang H.-M. [1 ]
Wang J. [1 ]
Zhang G.-M. [1 ]
Mei L. [1 ]
Deng X. [1 ]
机构：
[1] College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, 211816, Jiangsu
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2019年 / 36卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Double-pendulum effect; Rotary crane; Trajectory generation;
D O I：
10.7641/CTA.2018.80454
中图分类号：
学科分类号：
摘要：
Crane systems with double-pendulum effect seem more practical than those with single-pendulum effect. However, in these cases the load sway properties become more complicated so that the difficulty of the dynamic performance analysis and controller design is increased. In order to solve the aforementioned problems, the linear dynamics of a rotary crane with double-pendulum effect is derived based on disturbance observers, and is decoupled for controller design by modal analysis. Next, an S-shaped curve is generated on the basis of the decoupled linear crane model for suppressing residual double-pendulum load sway. Parameters of the trajectory can be easily obtained by calculating algebraic equations. Finally, simulation results validate the effectiveness of the proposed method. © 2019, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：1265 / 1274
页数：9
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