Abstract
When the hook mass is greater than the load mass or the load has a distributed mass property, the load sway of the crane system can be considered as a double-pendulum. At this point, the crane system has two kinds of natural angular frequency which greatly increases the difficulty of the dynamic analysis and the controller design. To this end, the linear dynamics of a 2-D overhead crane with double-pendulum effect is derived based on a disturbance observer and is decoupled for controller design by modal analysis. Second, an S-shaped curve, which is widely used in the control fields, is applied to the linearized decoupling crane model. The trajectory parameters are obtained by solving the algebraic equation. Finally, the validity of the method is verified by simulation results.
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