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A swing constrained time-optimal trajectory planning strategy for double pendulum crane systems

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Abstract

In practice, overhead crane systems are widely used and the traditional control methods for a crane system usually treat it as a single pendulum system. However, when the hook mass cannot be ignored or the payload is too large, the crane system may behave more like a double pendulum system, which leads to the fact that traditional control methods are not suitable in this situation. In this paper, we focus on the control problem of a double pendulum crane system and propose a time-optimal trajectory planning method with the consideration of various constraints which can achieve the objectives of both accurate trolley positioning and double pendulum swing suppression. Specifically, the discrete system model is obtained using the discretization technique firstly. Then by deeply analyzing and considering a series of constraints, we formulate a quasiconvex optimization problem. After that, the bisection method is chosen to solve the obtained optimization problem with the corresponding time-optimal trajectory constructed conveniently. A tracking controller is also designed for the double pendulum crane system, which achieves proper trolley tracking performance. At last, both simulation and experimental results are included to illustrate the superior performance of the proposed trajectory planning method.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China under Grant 61503200, in part by the Natural Science Foundation of Tianjin under Grant 15JCQNJC03800, and in part by the National Science Fund for Distinguished Young Scholars of China under Grant 61325017.

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Authors and Affiliations

  1. Institute of Robotics and Automatic Information System (IRAIS), Tianjin Key Laboratory of Intelligent Robotics (tjKLIR), Nankai University, Tianjin, 300350, China

    He Chen, Yongchun Fang & Ning Sun

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  1. He Chen
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  2. Yongchun Fang
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  3. Ning Sun
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Correspondence to Yongchun Fang.

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Chen, H., Fang, Y. & Sun, N. A swing constrained time-optimal trajectory planning strategy for double pendulum crane systems. Nonlinear Dyn 89, 1513–1524 (2017). https://doi.org/10.1007/s11071-017-3531-0

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