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

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...

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