The Positioning and Anti-Swing for Crane Based on Smooth Trajectory

For the crane transportation, the payload inertia swing is caused by the trolley acceleration change. To achieve the objective of positioning and anti-swing, a trajectory planning method for crane based on the acceleration smooth switching is proposed in this paper. The two-dimensional crane mathematical model and the phase plane analysis method are utilized in this method. The analytic expression is obtained according to the three-segment acceleration and the acceleration smooth transition, which is applied easily. The control system is designed to reduce the direct jerk for the trolley. The precise positioning of the trolley and the payload anti-swing are taken into account. With the simulation and analysis, the trolley can reach the specified position, the payload swing is eliminated, and the jerk is reduced. Compared with the trigonometric function trajectory, the experiment results show that this method can better meet the requirements of smooth operation, positioning and anti-swing.