Acceleration planning based anti-swing and position control for double-pendulum cranes

摘要

For a double-pendulum crane system with multi-state variables, strong coupling and under-actuated, the mathematical model is a nonlinear second order differential equations and the controller is a multi-input single-output system, leading to the challenge of controller design. Most of the existing good methods are based on advanced control theories or optimization theories, but it is difficult to put into practical application. In this paper, an anti-swing and position controller based on trapezoidal acceleration spline curve programming is designed to achieve the control requirements of effective anti-swing and precise position under constraints of the maximum acceleration, maximum velocity and maximum swing angle. The method has strong robustness which can adapt to the different length of the rope and the mass of the load, the most important thing is that it can be implemented in almost all controller devices and is suitable for engineering applications. The simulation results prove the effectiveness of the method.