Year: 2025
Type: article
Abstract: In view of the double pendulum characteristics of cranes in actual production, simply equating them to single pendulum characteristics and ignoring the mass of the hook will lead to significant errors in the oscillation frequency. To tackle this issue, an input-shaping double pendulum anti-sway control method based on phase plane trajectory planning is proposed. This method generates the required acceleration signal by designing an input shaper and calculates the acceleration switching time and amplitude of the trolley according to the phase plane swing angle and the physical constraints of the system. Through this strategy, it is ensured that the speed of the trolley and the swing angle of the load are always kept within the constraint range so that the trolley can reach the target position accurately. The comparative analysis of numerical simulation and existing control methods shows that the proposed control method can significantly reduce the swing angle amplitude and enable the system to enter the swing angle stable state faster. Numerical simulation and physical experiments show the effectiveness of the control method.
Source: Algorithms
DOI: 10.3390/a18050246
Authors: Kai Zhang, Wangqing Niu, Kailun Zhang
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $1,930
OpenAlex ID: W4409767058