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| Optimal Control for Overhead Cranes Based on S-Shaped Curve Trajectory |
| OUYANG Huimin ZHANG Guangming WANG Deming MEI Lei DENG Xin |
| College of Automation and Electrical Engineering, Nanjing Tech University, Nanjing 211816 |
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Abstract This paper aims at the residual load sway problem of overhead cranes, and proposes an S-shaped curve trajectory generation method to achieve residual load sway suppression. Firstly, a dynamic model of an overhead crane is derived. Next, an optimal S-shaped curve trajectory that can achieve the shortest transport time and residual load sway suppression is generated by numerical calculation. Finally, comparative simulations and experimental results demonstrate the effectiveness of the proposed method. Therefore, the crane can be precisely and rapidly operated without sensor systems for measuring load sway of the load, consequently, the structure of the crane can be simplified and implementation cost can be reduced.
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Received: 08 August 2013
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2014, Vol. 33 
