Anti-swing sliding mode control of three-dimensional double pendulum overhead cranes based on extended state observer

When the double pendulum crane works in three-dimensional motion mode, it can significantly improve transportation efficiency. However, controlling the two-stage swing angles in the three-dimensional motion mode is complex and challenging. This paper presents a coordinated control method for the track and trolley of the double pendulum crane to improve the working efficiency of the crane, which realizes the anti-swing control of the double pendulum crane in three-dimensional movement mode. A three-dimensional double pendulum crane model is established, and the model is simplified by the differential flatness theory. A sliding mode control (SMC) method with an extended state observer (ESO) is designed to position and two-stage swing suppression of the three-dimensional double pendulum crane. For the actuator deadband, a transition process is introduced. The stability of the system is analyzed by the Lyapunov method. The proposed method has strong robustness and anti-interference ability. Theoretical and experimental results show that the proposed method can achieve fast and accurate positioning and effectively suppress the two-stage swing. This method is introduced into a nonlinear experimental platform. Compared with other technologies in the literature, the proposed method shortens the transit time, improves work efficiency, and reduces the safety risk.

Automated summary

This paper presents a coordinated control method for the double pendulum crane in three-dimensional motion mode, achieving anti-swing control and fast accurate positioning through model establishment, sliding mode control, and extended state observer.