Anti-sway design of overhead crane based on model predictive control

Abstract

Abstract: Aimed at the sway problem of lifted weight in the working process of overhead crane, an electronic anti-swing design method is proposed based on predictive control strategy. Firstly, dynamic analysis is carried out for the overhead crane, and a control-oriented mathematical model is established by using Lagrange equation, Secondly, according to the historical information of the object and the future input, the future output is predicted and a control rule is obtained by optimizing the performance function combined with prediction error compensation. Finally, it is shown by simulation result that the designed anti-sway system can be used to realize rapid positioning of the trolley and effective restriction of the swing angle of lifted weight. Compared with an optimal anti-sway control, the system overshoot and swing angle amplitude will be greatly reduced, manifesting the superiority of this anti-sway method; When a parameter perturbation or measurement noise is added onto this system, the anti-sway system can still achieve the control purpose very well, showing that this anti-swing method has a better robustness.

Key words: overhead crane, anti-sway control, predictive control, swing angle amplitude

CLC Number:

TP273

TANG Wei-qiang, HUANG Xiao-li, LONG Wen-kun, SUN Li-juan. Anti-sway design of overhead crane based on model predictive control[J]. Journal of Lanzhou University of Technology, 2020, 46(2): 92-96.

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