A novel online motion planning method for double-pendulum overhead cranes

被引:97
作者
Zhang, Menghua [1 ]
Ma, Xin [1 ]
Chai, Hui [1 ]
Rong, Xuewen [1 ]
Tian, Xincheng [1 ]
Li, Yibin [1 ]
机构
[1] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China
关键词
Underactuated systems; Double-pendulum overhead cranes; Motion planning; Kinematic coupling; NONLINEAR CONTROL; COUPLING CONTROL; SWAY REDUCTION; CONTROLLER; DYNAMICS; BRIDGE; SYSTEMS;
D O I
10.1007/s11071-016-2745-x
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
In this paper, a novel online motion planning method for double-pendulum overhead cranes is proposed. The proposed trajectory is made up of two parts: anti-sway component and trolley positioning component. The objective of the first part is to suppress and eliminate the swings of hook and payload. Lyapunov techniques, LaSalle's invariance theorem, and Barbalat's lemma are used to demonstrate that the trolley can be driven to arrive at the desired position, while the unexpected hook swing and payload swing are damped out simultaneously with the proposed trajectory. Numerical simulation results indicate that the proposed control trajectory achieves superior performance and admits strong robustness against parameter variations and external disturbances.
引用
收藏
页码:1079 / 1090
页数:12
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