Improved time optimal anti-swing control system based on low-pass filter for double pendulum crane system with distributed mass beam

摘要

Specific payload shape and hoisting mechanism will transform the crane to a complex double pendulum system with a distributed mass beams (DMB), which makes its control challenging. In this paper, the dynamic analysis of the double pendulum crane with DMB is conducted. Based on the low-pass filter, the system response law of the double pendulum system hoisting DMB is analyzed. On this basis, the previously proposed time optimal anti-swing control method is improved by utilizing low-pass filter to achieve the minimum maximum residual angle, as well as to smooth the velocity trajectory so that the jerk can be avoided. To evaluate the effectiveness of the proposed approach, simulations and experiments are performed. Results demonstrate that the proposed method can suppress and eliminate the DMB oscillation. The superiority of the proposed controller compared with the recently proposed controller is that it can achieve higher hook oscillation and DMB oscillation reduction. Besides, the advantage of the improved method is also illustrated in terms of low jerk and smoothness.