Trajectory Planning Method of Overhead Crane

Authors

Xuejuan Shao, 1. School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China; ;
Li Yao, 1. School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China; ;
Jinggang Zhang, 1. School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China; ;
Xueliang Zhang, 2. School of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China;

Abstract

Abstract: To make the trolley of bridge crane move stably with smooth acceleration, a polynomial acceleration trajectory is proposed based on the constraint conditions of the crane and the friction between the trolley and the rail. An anti-swing plan is designed employing the dynamic coupling relationship between the motion of the trolley and the load swing. Results indicate that when the length of the rope is changed, the swing angle of the trolley is still within the limits. The stability of the system is proved by constructing Lyapunov energy equations, and the Barbalat lemma confirms that the planned reference trajectory can make the trolley motion converge to the target position and eliminate the swing. The rationality and superiority of the planned reference trajectory are verified by modeling and simulation in Matlab environment.

Recommended Citation

Shao, Xuejuan; Yao, Li; Zhang, Jinggang; and Zhang, Xueliang (2019) "Trajectory Planning Method of Overhead Crane," Journal of System Simulation: Vol. 31: Iss. 5, Article 18.
DOI: 10.16182/j.issn1004731x.joss.17-0156
Available at: https://dc-china-simulation.researchcommons.org/journal/vol31/iss5/18

First Page

971

Revised Date

2017-07-10

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.17-0156

Last Page

977

CLC

TP273

Recommended Citation

Shao Xuejuan, Li Yao, Zhang Jinggang, Zhang Xueliang. Trajectory Planning Method of Overhead Crane[J]. Journal of System Simulation, 2019, 31(5): 971-977.

DOI

10.16182/j.issn1004731x.joss.17-0156