Journal
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
Volume 149, Issue 5, Pages 405-411Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/ip-cta:20020587
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A methodology is proposed to control the transient sway and residual oscillation of a payload carried by an overhead crane. The design approach is based on a linearised model of the crane and consists of dampening the linearised system by an observer-based controller and applying a dynamic inversion procedure in order to assure a predetermined oscillation free polynomial motion law for the payload. Polynomial functions are adopted in order to guarantee that the input function has a continuous derivative of an arbitrary order. Moreover, the motion time can be minimised, taking into account constraints on the actuators, by means of a simple bisection algorithm. Parameter uncertainties are taken into account during the whole design procedure. Simulation results, based on a nonlinear crane model, show how the method is also effective when the payload is hoisted or lowered during the motion, and when friction effects are considered.
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