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4, December 2013
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1,2,3
1,2,3
*1
Abstract
The efficiency of overhead traveling crane transportation is
limited by payload swing induced by velocity change of the
crane. To obtain high efficiency, this study introduced an
ideal trajectory for cranes speed trajectory tracking
controller. Pontryagins maximum principle was used to
develop an optimal trajectory to minimize the swing angle of
payload based on the kinematic model of overhead traveling
crane with constant hoist rope length. A simplified trajectory
which is more convenience for engineering practice is
introduced and some properties of the optimal trajectory are
discussed by using the simplified version. Theoretical
analysis has shown that the proposed optimal trajectory and
its simplified version can reach a given velocity in a given
time with a minimum payload swing. Methods introduced
can be applied to motion planning for overhead traveling
crane.
Keywords
Optimal Control; Ideal Trajectory; Anti-swing Control; Overhead
Traveling Crane
Introduction
For its large capacity and high transport efficiency,
overhead traveling cranes have been widely used in
industry to transfer heavy objects. However, crane
systems have intrinsic drawbacks: since loads are
moved via flexible ropes, horizontal motion would
induce undesirable load swing. The trolley requires
accelerating to a certain velocity within a short time to
increase transportation efficiency. At the same time,
higher acceleration would increase payload swing,
which would lower transport accuracy, efficiency and
cause safety hazard. So, payload swing should be
suppressed as much as possible to increase
transportation efficiency.
Extensive research has been made to develop control
techniques toward anti-sway load transfer. As an
overhead crane is an under actuated system, the
payload swing could not be controlled directly. In
practice, load swing is usually suppressed by trolley
motion. Many control laws have been proposed to
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(1)
(2)
(3)
76
2 x=
=
x1 x=
3, x3 u
2, x
(7)
(10)
(11)
2 x=
=
x1 x=
3; x3 u;
2; x
= x ; = ; = ;
1
1 2
1 3
2
(12)
1
t
2
1
t
2
x2 (t=
)
( C3
2
+ C5 e 2 ) sin(
1
+ C6 e 2 ) cos(
3 C4 )e
( C3 C 4
2
1
t
2
3 )e
1
t
2
2
3
t)
(13)
t ) + C1 e + C2 e
t
+ ( C5
3 + C6 ) e
+ ( C5 C 6
t
1
x3 (t ) = ( C3 3 C4 ) e 2 + (C5
2
3 )e
sin(
3 + C6 ) cos(
=
u (t ) (C3
1
t
e 2
(14)
3
2
t ) + C1 e C 2 e
1
t
e 2
C5
1
t
e 2 ) cos(
(15)
C6
As (ts ) 0=
=
and x (ts ) 0 , the following statement is
obtained:
ts
(17)
g (t )dt
0 dt=
x1 ;= x2 ;= x3 ;= u;
(18)
(19)
2 x=
=
x1 x=
3; x3 u
2; x
3
t ) + C1et C2 e t
2
Expressions for integration constants Ci (i = 1,..., 6) are
+ (C4
(0)
x=
t)
3
t)
2
t)
2
1
t
e 2 ) sin(
t )l ts g (t )dt
x (ts ) x (0) = (
s
t
t
3
t
t
t ) + C1 e + C2 e
+ ( C3 + C4 3) e 2 (C5 + C6 3) e 2 sin(
2
2
cos(
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=
x1 (0) 0;=
x2 (0) 0;=
x3 (0) 0;
=
x1 (ts )
vc
; x2 (ts ) 0;=
=
x3 (ts ) 0;
g
(20a)
(20b)
(22)
(23)
u (t ) =
C2 cos(t ) + C3et C4 sin t + C5 e t
77
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k
(25)
t
(26)
=
x
g tan(
)
k sin t kt
2
cos(
)
2
=
78
2k
=
(t j ) 0;=
(t j ) 0;=
(t j ) 2 ;
(27)
2k
x(t j ) = g tan( 2 )
k sin t k
(29)
=a
+ t
2
kl sin t
x=
k sin t k
+ t)
cos(a
(30)
k sin t k
g tan(a
+ t)
(31)
+g
x=
(t ) kl sin t g
2
Derived from equation (31), the relation between
uniform velocity and acceleration time can be depicted
as=
vc aa (tc + t j ) .
+
w
w
(32)
(t ) = k sin wt
(t ) = wk cos wt
where = 2 / ts and k = 2vc / gts2 in which ts is the
time span of deceleration phase, and the largest swing
2k
angle is max
= = 2vc / gts .
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(a)
(a)
(b)
(b)
(c)
FIG. 3 EXAMPLE OF ACCELERATION PHASE OF OPTIMAL
TRAJECTORY
(c)
FIG. 4 EXAMPLE OF DECELERATION PHASE OF SIMPLIFIED AND
SIMPLIFIED AND OPTIMAL TRAJECTORY
79
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This paper is supported by the National Sciencetechnology Support Projects for the 12th five-year plan
(2011BAK06B05).
REFERENCES
411.
Sun, N., Fang, Y., Zhang, Y., and Ma, B., A novel kinematic
Method
Adaptive
for
an
80
ACKNOWLEDGMENT
planning-Based