Dynamic analysis and time optimal anti-swing control of double pendulum bridge crane with distributed mass beams

摘要

The existing anti-swing control of crane is mostly used for the single pendulum system, but in practical application, specific payload shape and hoisting mechanism will induce to complex double pendulum dynamics. In this paper, the double pendulum crane with distributed mass beams(DMB) is considered. Based on the dynamic analysis, the DMB oscillations composed of the quasi-periodic single pendulum around the drum and the second-mode pendulum around the hook are obtained. And their period calculation equations can be acquired. On this basis, the time optimal control trajectory is planed to eliminate the oscillation of the quasi-periodic single pendulum by using the minimum principle. And the oscillation suppression strategy of the second-mode pendulum is designed with the step response law of the oscillation system. Finally, combining the time optimal control trajectory and the oscillation suppression strategy, the time optimal anti-swing control method is established. Simulation and experimental results demonstrate that the proposed method can suppress the DMB oscillation in short time. The adaptability of the control method to the parameters of suspension length and DMB quality is verified. Besides, the accelerated/decelerated time and distance traveled by the proposed controller is less than that of input shaping and command smoothing. Finally, the presented method is applied to the bridge crane in the rolling mills.