Optimal motion planning for overhead cranes

Abstract

Overhead cranes are widely used in industrial applications for material displacing. Many linear or nonlinear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This paper aims at finding an optimal solution of motion planning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtained with less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such as swing, acceleration, and jerk. Besides the energy optimal model, we also propose two other models to optimize time efficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories, and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety respectively.

Invariant-Based Inverse Engineering of Crane Control Parameters

“…The analysis of energy management and expenditure has been more realistic in engineering publications (see, e.g., Ref. [20]) than in the work on microscopic systems. A useful energy cost analysis of a shortcut must include the control system (the trolley) in addition to the primary system (the payload).…”

“…In Ref. [64], the dynamics of the crane is analyzed in terms of coupled dynamical equations for the trolley and the payload [20] for a transport operation (with a constant l),…”

“…Typically, the residual (final) pendulations are to be minimized, while larger pendulations are allowed on route as long as the safety of the operation is not at risk. The dynamical models are frequently linearized to apply linear control methods, as normal operation conditions involve small sway angles [13,[16][17][18][19][20]. Open-loop (without feedback control) and closed-loop (with feedback provided by sensors) strategies have been proposed.…”

Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison

“…2). S-shaped velocity profile mostly used for improving the smoothness of the motion by reducing the jerks in acceleration and deceleration phases (Rew et al 2009;Wu, Xia 2014). This type of motion profile is based on seven-phase acceleration trajectory and jerk control.…”

Design on a lag-lead emendation network for some missile control system

“…According to classical automatic control theory, the procedure for design phase lag emendation unit using bode diagram is shown as follows [4,5]. …”