Minimum time control of a rotary crane using the straight transfer transformation method

摘要

This paper presents a method for controlling the load sway of a rotary crane using a straight transfer transformation (STT) model. The STT model was built and its parameters were geometrically derived. Taking the change of rope length into account, the minimum time control problem of a transferred load was solved using the revised STT model by means of the clipping-off technique for the constraints of control inputs' amplitude. The proposed control method using the STT model was demonstrated to be effective in eliminating the influence of centrifugal force through simulation and experiments.