Adaptive swing reduction control of double-pendulum tower crane time-varying system based on real-time update mutation factor

Abstract

As representative underactuated and nonlinear systems, tower crane involves the multi-direction movement of the payload and even shows a more complex double pendulum in many actual situations, which makes the control problem more complicated. Most anti-swing controllers are mainly based on the linear design of tower crane dynamics at present and are insensitive to the position far from the equilibrium point. The time-varying cable length and double-pendulum effect are not taken into account simultaneously. Aiming at the problem of anti-swing control, a dynamic model of time-varying cable length tower crane with double-pendulum effect is established and an adaptive control method is proposed, which used the adaptive mutation strategy to update the mutation factor in real-time, and the parameters of the controller are tuned by an improved differential evolutionary algorithm. The simulations and experiments are carried out to verify the better optimization ability and faster convergence speed of the improved evolutionary algorithm in the process of parameter tuning and the effectiveness and superiority of the proposed control method are verified by comparing it with PID (proportion integration differentiation) and LQR (linear quadratic regulator) controllers.