This paper proposes a motion-planning method for a high-performance anti-swing control of overhead cranes, where the motion-planning problem is solved as a kinematic problem. First, an anti-swing regulating control law is proposed based on the Lyapunov stability theorem, where the proposed anti-swing control drives trolley velocity regulating error asymptotically to zero while suppressing load swing rapidly to zero for given arbitrary high-speed hoisting motions. Then a motion-planning scheme is designed based on the concept of minimumtime control, the proposed anti-swing control law, and typical anti-swing crane-operation practices. The motion-planning scheme is free from the usual mathematical constraints in anti-swing control such as small swing angle, small hoisting speed, and small hoisting distance. The effectiveness of the proposed motion planning is shown by generating high-performance anti-swing trajectories with high hoisting speed and hoisting ratio.
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June 2004
Technical Papers
A New Motion-Planning Scheme for Overhead Cranes With High-Speed Hoisting
Ho-Hoon Lee
Ho-Hoon Lee
Department of Mechanical Engineering, Tulane University, New Orleans, Louisiana 70118
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Ho-Hoon Lee
Department of Mechanical Engineering, Tulane University, New Orleans, Louisiana 70118
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division June 24, 2002; final revision, October 14, 2003. Associate Editor: M. Goldfarb.
J. Dyn. Sys., Meas., Control. Jun 2004, 126(2): 359-364 (6 pages)
Published Online: August 5, 2004
Article history
Received:
June 24, 2002
Revised:
October 14, 2003
Online:
August 5, 2004
Citation
Lee, H. (August 5, 2004). "A New Motion-Planning Scheme for Overhead Cranes With High-Speed Hoisting ." ASME. J. Dyn. Sys., Meas., Control. June 2004; 126(2): 359–364. https://doi.org/10.1115/1.1767855
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