Position-Commanding Anti-Sway Controller for 2-D Overhead Cranes Under Velocity and Acceleration Constraints

Nishimoto, Ryo; Kikuuwe, Ryo

doi:10.51094/jxiv.296

##article.authors##

Nishimoto, Ryo Graduate School of Advanced Science of Engineering, Hiroshima University https://orcid.org/0000-0001-7902-9081
Kikuuwe, Ryo Graduate School of Advanced Science of Engineering, Hiroshima University https://orcid.org/0000-0002-1500-6777

DOI:

https://doi.org/10.51094/jxiv.296

キーワード:

Overhead crane、 Position command、 Anti-sway control、 Velocity limits、 Acceleration limits

抄録

This paper proposes an anti-sway controller for two-dimensional overhead cranes. The controller is of the position-commanding type, i.e., it sends position commands to the position-controlled trolley, and it uses the sensor information of the payload sway angle. The position commands are determined so that the trolley tracks the desired position signal sent from an upper-level controller and also so that the payload sway is damped. The sway damping is realized by a leaky integral controller, which employs a high-pass filtered time integral of the sway angle. In addition, arbitrary limits can be imposed on the first and second derivatives of the position command, and thus it is applicable to cases where the desired position signal from the upper-level controller is nonsmooth or discontinuous. Due to these features, the controller is expected to be useful in both human-operated and autonomous systems. The controller was validated with a laboratory setup. This paper also presents an algorithm that can be attached to the proposed controller to prevent the overshoot, which can take place when the desired position signal is discontinuous.

利益相反に関する開示

The authors declare no potential conflict of interests.

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