双摆旋转起重机轨迹生成

Crane systems with double-pendulum effect seem more practical than those with single-pendulum effect. However, in these cases the load sway properties become more complicated so that the difficulty of the dynamic performance analysis and controller design is increased. In order to solve the aforementioned problems, the linear dynamics of a rotary crane with double-pendulum effect is derived based on disturbance observers, and is decoupled for controller design by modal analysis. Next, an S-shaped curve is generated on the basis of the decoupled linear crane model for suppressing residual double-pendulum load sway. Parameters of the trajectory can be easily obtained by calculating algebraic equations. Finally, simulation results validate the effectiveness of the proposed method.