Passivity and underactuated modeling-based load energy coupling control for three-dimensional overhead crane systems

Abstract

The conventional control strategies and methods with the three-dimensional model of overhead crane system are excessively dependent on model parameters and lead to the controllers design complex on position and anti-swing of overhead crane systems. With analysis on the coupling relationship among various state variables of overhead crane, the three-dimensional dynamic model of overhead crane based on mechanical virtual displacement and Lagrangian equation is constructed. A novel control strategy based on load energy coupling is designed to realize system positioning and eliminate the problem of residual load swing. The passivity of the three-dimensional overhead crane system is judged, and the energy composition of the system is deduced. The energy coupling function based on load displacement and swing angle is built. The control strategy of three-dimensional overhead crane system based on load energy coupling is designed by the Lyapunov stability theory and function construction method. The stability of the system is verified by the Lasalle invariance principle. With the experimental and programming, the proposed method is compared with different control methods. The results show that this method can realize the accurate positioning of the trolley more quickly and restrain the load swing more effectively.