Equivalent Rope Length-Based Trajectory Planning for Double Pendulum Bridge Cranes with Distributed Mass Payloads

Abstract

The hoisting form in which the payload is hung on the hook by two rigging ropes is widely used in the industry, but it also results in the complex double pendulum dynamic of the bridge crane, making the anti-swing trajectory planning full of challenges. In this paper, based on the concept of the equivalent rope length, an equivalent single pendulum model of the double pendulum bridge crane with the distributed mass payload is established. On this basis, the particle swarm optimization algorithm is adopted to solve the equivalent rope length and calculate the parameters of the anti-swing velocity trajectory based on the phase plane method. To evaluate the effectiveness of the proposed method, experiments with a laboratory double pendulum bridge crane are conducted. Experimental results demonstrate that the residual oscillation angle of the payload of the proposed method is smaller than those of the existing methods, such as the trajectory planning without the equivalent rope length, input shaping and command smoothing.

The Prescribed-Time Sliding Mode Control for Underactuated Bridge Crane

“…The problem of positioning and swing elimination in bridge crane systems has been extensively researched. This research encompasses open-loop control methods such as input shaping [1] and trajectory planning [2,3], as well as closed-loop control methods, like PID control [4,5], backstepping control [6,7], fuzzy control [8], and sliding mode control [9][10][11][12]. The core idea of input shaping and trajectory planning is to design the acceleration of the trolley, so as to reduce the swing of the load as much as possible during the movement of the trolley.…”

An enhanced coupling optimal trajectory planning for bridge cranes

“…To tackle this problem, differential flat relations and polynomials have been widely used for trajectory design of bridge cranes. [19][20][21][22][23][24][25][26][27][28][29] These methods can produce a smooth, continuous and analytic expression for the trajectory by constructing a reasonable differential flat and using polynomials to design the reference trajectory. Despite the advantages of these methods, some drawbacks exist in the literature.…”