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《Journal of System Simulation》 2019-05
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Trajectory Planning Method of Overhead Crane

Shao Xuejuan;Li Yao;Zhang Jinggang;Zhang Xueliang;School of Electronic Information Engineering, Taiyuan University of Science and Technology;School of Mechanical Engineering, Taiyuan University of Science and Technology;  
To make the trolley of bridge crane move stably with smooth acceleration, a polynomial acceleration trajectory is proposed based on the constraint conditions of the crane and the friction between the trolley and the rail. An anti-swing plan is designed employing the dynamic coupling relationship between the motion of the trolley and the load swing. Results indicate that when the length of the rope is changed, the swing angle of the trolley is still within the limits. The stability of the system is proved by constructing Lyapunov energy equations, and the Barbalat lemma confirms that the planned reference trajectory can make the trolley motion converge to the target position and eliminate the swing.The rationality and superiority of the planned reference trajectory are verified by modeling and simulation in Matlab environment.
【Fund】: 山西省研究生优秀创新项目(2016BY133)
【CateGory Index】: TH215
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