A Nonlinear Coupling-Based Motion Trajectory Planning Method for Double-Pendulum Rotary Crane Subject to State Constraints

Abstract

AbstractFast and accurate positioning while suppressing swing is pivotal to efficient and safe operation for the rotary cranes. The problem becomes more complicated when a double-pendulum effect exists for some certain payloads. This paper proposes a nonlinear coupling-based motion trajectory planning method for double-pendulum rotary crane subject to state constraints. The proposed control method consists of two parts: a positioning reference component and a swing-eliminating component. The positioning reference angular acceleration trajectory is derived from a trapezoid-like function with suitable duration, which considers state constraints. The swing-eliminating angular acceleration trajectory is designed based on the nonlinear coupling relationship among the boom luffing motion, the hook swing and the payload swing. State constraints can be guaranteed by adjusting angular acceleration (deceleration) change duration, hold duration and constant velocity duration. The Lyapunov technique and LaSalle’s invariance theorem are used for stability analysis. Simulation results verify the control performance of the proposed nonlinear coupling-based motion trajectory planning method.KeywordsMotion planningDouble-pendulum rotary cranesState constraintsNonlinear controlUnderactuated system