Disclosed is a double-pendulum crane global time optimal trajectory planning method based on a pseudo-spectral method. The purpose of automatic control over a nonlinear double-pendulum bridge crane system is achieved. The method has the good functions of trolley positioning and two-stage load pendulum elimination. The method comprises the steps that firstly, a system kinematic model is transformed so as to facilitate following analysis; then, corresponding optimization problems are constructed by considering various constraints including two-stage pendulum angles and trolley speed and acceleration upper limit values; and then, the Gaussian pseudo-spectral method is used for transforming the optimization problems with the constraints into nonlinear programming problems easy to solve to be solved to obtain a trolley trajectory with the optimal time. The thought of the pseudo-spectral method is utilized for handling and transforming the complex time optimal problem, the solving difficulty is lowered; and meanwhile, the result with the optimal global time can be obtained through the method, and the working efficiency of a crane system can be greatly improved. Simulation and experiment results show that the good control effect can be obtained and the good actual application value is achieved.
Double-pendulum crane global time optimal trajectory planning method based on pseudo-spectral method
2015-12-23
Patent
Electronic Resource
English
IPC: | B66C Krane , CRANES |
European Patent Office | 2021
|European Patent Office | 2022
|European Patent Office | 2022
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