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.
A New Motion-Planning Scheme for Overhead Cranes With High-Speed Hoisting
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.
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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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