The Research On Control Strategy Of Double-Pendulum-Type Overhead Crane

As one of the most common transportation equipment in modern industrial production and transportation,the overhead crane has been widely used in the fields of railway transportation,chemical metallurgy,logistics transportation and so on.In previous studies,underactuated overhead cranes are usually regarded as simple pendulum systems.However,when the load size is too big or the hook mass is large,the overhead crane may show double pendulum effects.The double-pendulum-type overhead crane system has extra underactuated degree,which will be more inconvenient to design of anti-swing and positioning control strategy for double-pendulum-type overhead crane system.Therefore,aiming at the problem of positioning and anti-swing of double-pendulum-type overhead crane system,different control strategies are designed to improve the system performance.First of all,a load swing angle curve is designed to meet the requirements,and the acceleration trajectory is obtained from the coupling relationship between the motion of the trolley and the two-stage swing angle.Then,the objective function about transportation time and maximum load swing angle is established,in that way,the trajectory planning problem is transformed into an optimization problem,which can be solved by using particle swarm optimization algorithm.And then tracking the reference trajectory by using model predictive tracking controller.When the parameters of the system are changed,the two-stage swing angle can still be kept in the allowable range.Secondly,as a complex non-linear system,the double-pendulum-type overhead crane system is vulnerable to uncertainties in the working process,Then the Takagi-Sugeno fuzzy model is established to describe the characteristics of the nonlinear system,and then H_∞?controller is designed for each subsystem based on parallel distributed compensation to reduce the influence of uncertainties in the system,when realizing the anti-swing and positioning control target of the system.Finally,a method based on robust model predictive control is proposed for the double-pendulum-type overhead crane system.This method can guarantee good control performance by minimizing the maximum of the objective function,and the linear matrix inequality technique is introduced to solve the constrained optimization problem in the rolling optimization process.Finally,simulation results show the effectiveness and robustness of proposed method.