IJCAS

In order to improve transport efficiency and enhance the safety of the crane system, it is required that the trolley can reach the desired position fast enough, while the load swing needs to be within the bounded limits. To achieve these goals, a novel double-step acceleration strategy with equal acceleration amplitude and acceleration time, and unequal acceleration amplitude and acceleration time is proposed for input shaping anti-sway control based on phase plane trajectory planning. Specifically, the desired double-step acceleration signal is designed using an input shaper, and then the phase plane trajectory of the load swing angle is planned using the phase plane method. The geometric constraints of the phase plane trajectory and the physical constraints of the crane allow the amplitude and switching time of the double-step acceleration to be solved. The final simulation results show that the proposed control method achieves an effective anti-sway effect on the container crane.

Keywords: Container crane, double-step acceleration, input shaping, phase plane, trajectory planning.