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Simple anti-swing feedback control for a gantry crane

Published online by Cambridge University Press:  24 October 2003

Yannick Aoustin  and
Alexander Formal'sky
Yannick Aoustin
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes, U.M.R. 6597 1 rue de la Noë, BP 92101 F-44321 Nantes cedex 3 (France). Yannick.Aoustin@irccyn.ec-nantes.fr
Alexander Formal'sky
Affiliation:
Institute of Mechanics, Moscow State Lomonosov University, Mitchurinsky Prospect, Moscow 119899 (Russia). formal@imec.msu.ru
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Abstract

We propose a simple quasi time optimal control law for a gantry crane with a payload. The force applied to the trolley is a controlling parameter. The control law consists of two parts: a feedforward term and a trolley position and velocity feedback term.

Initially, we synthesize the feedforward term and the corresponding reference trajectory by computing the time optimal control for the system mass center. The computed optimal control is a discontinuous function of time with several switching time instants. Undesirable large vibrations due to the payload sway appear under this control. Therefore, we transform this control, replacing its jumps by the piecewise linear continuous functions. The computed feedforward term and the reference trajectory are used as input signals of the PD-controller.

Keywords

Gantry craneTrolleyPayload (or hanging load)Feedforward termReference trajectoryFeedback control
Type
Research Article
Information
Robotica , Volume 21 , Issue 6 , December 2003 , pp. 655 - 666
Copyright
© 2003 Cambridge University Press

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