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Global Time Optimal Trajectory Planning Method for Double Pendulum Crane Based on Pseudospectral Method

A time-optimized and trajectory planning technology, applied in the direction of load suspension components, transportation and packaging, etc., can solve problems such as the inability to achieve the optimal control effect of the global time and the inability to ensure the maximization of the operating efficiency of the crane system.

Active Publication Date: 2017-03-29
NANKAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Although the above control strategies can realize the control of the double pendulum crane system, they cannot achieve the optimal control effect of the global time, that is, they cannot guarantee the maximum operating efficiency of the crane system.

Method used

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  • Global Time Optimal Trajectory Planning Method for Double Pendulum Crane Based on Pseudospectral Method
  • Global Time Optimal Trajectory Planning Method for Double Pendulum Crane Based on Pseudospectral Method
  • Global Time Optimal Trajectory Planning Method for Double Pendulum Crane Based on Pseudospectral Method

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Embodiment 1

[0121] Analyzing the control objective of the crane system, considering various constraints including the two-stage swing angle and the upper limit of the speed and acceleration of the trolley, the following optimization problem with the transportation time as the cost function is obtained:

[0122]

[0123] Here, select the target position of the trolley as x f =0.6m, the trajectory constraints are as follows:

[0124] θ 1max = θ 2max =2deg, v max =0.3m / s,ω 1max = ω 2max =5deg / s,a max =0.15m / s 2

[0125] 2. Acceleration drive model establishment and optimization problem transformation

[0126] Analyze and utilize the double pendulum overhead crane system to establish the following acceleration drive system model:

[0127]

[0128] Since the specific expression of the model is too complicated, it is not repeated here, only the corresponding physical parameters of the crane system are given, as follows:

[0129] M=6.5kg,m 1 =2.003kg,m 2 =0.559kg, g=9.8m / s 2 ,...

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Abstract

Disclosed is a double-pendulum crane global time optimal trajectory planning method based on a pseudo-spectral method. The purpose of automatic control over a nonlinear double-pendulum bridge crane system is achieved. The method has the good functions of trolley positioning and two-stage load pendulum elimination. The method comprises the steps that firstly, a system kinematic model is transformed so as to facilitate following analysis; then, corresponding optimization problems are constructed by considering various constraints including two-stage pendulum angles and trolley speed and acceleration upper limit values; and then, the Gaussian pseudo-spectral method is used for transforming the optimization problems with the constraints into nonlinear programming problems easy to solve to be solved to obtain a trolley trajectory with the optimal time. The thought of the pseudo-spectral method is utilized for handling and transforming the complex time optimal problem, the solving difficulty is lowered; and meanwhile, the result with the optimal global time can be obtained through the method, and the working efficiency of a crane system can be greatly improved. Simulation and experiment results show that the good control effect can be obtained and the good actual application value is achieved.

Description

technical field [0001] The invention belongs to the technical field of automatic control of nonlinear underactuated electromechanical systems, and in particular relates to a global time optimal trajectory planning method for a double pendulum crane based on a pseudo-spectral method. Background technique [0002] In the industrial production process, in order to transport the load to the desired position, various types of crane systems, including bridge cranes, cantilever cranes, tower cranes, and marine cranes, are widely used. In order to simplify the mechanical structure of the crane system, the load is often not directly controlled, but indirectly dragged to the target position through the movement of the trolley. The result of this structure is that the control input dimension of the crane system is smaller than the dimension of the degrees of freedom to be controlled. A system with this property is called an underactuated system [1] . Compared with the full-drive sys...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/18
Inventor 方勇纯陈鹤孙宁
Owner NANKAI UNIV
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