MATEC Web of Conferences
Volume 40, 20162015 International Conference on Mechanical Engineering and Electrical Systems (ICMES 2015)
|Number of page(s)||5|
|Section||Mechanical engineering and dynamics|
|Published online||29 January 2016|
The Motion Planning of Overhead Crane Based on Suppressing Payload Residual Swing
Southwest Jiaotong University, Research Institute of Mechanical Engineering, 610031 Chengdu, China
Since the overhead crane system is subject to under actuation system due to that overhead crane and payload are connected by flexibility wire rope. The payload generates residual swing when the overhead crane is accelerating/ decelerating the motions. This may cause trouble for the payload precise positioning and motion planning. Hence, an optimization input shaping control method is presented to reduce the under actuated overhead crane’s payload swing caused via the inertia force. The dynamic model of the overhead crane is proposed according to the physics structure of the crane. The input shaper based on the motion planning of the crane is used as the feed forward input to suppress payload residual swing. Simulation and experiment results indicate that the ZV input shaper and ZVD input shaper can reduce the payload swing of the overhead crane.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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