Wave-Based Control of a Crane System with Complex Loads

In the framework of wave-based method, we have examined swing motion control for double-pendulum and load-hoist models. Emphases are placed on wave scattering by the middle load mass in the double-pendulum model and on time-varying configuration in the load-hoist model. By analyzing wave transmission and reflection, trolley's motion to alleviate swing is designed by absorbing reflected wave through adjusting the velocity of trolley. Simulation and experiment are also conducted to validate the proposed control method. The results show that with the designed trolley's motion swings of load can be significantly reduced for both double-pendulum model, suspended rod model which is demonstrated a special case of double-pendulum model, and load-hoist model. Simulation results agree well with the experimental measurement. Launch velocity profiles may have important impact on motion design, especially on force necessary to displace trolley. Finally, a wave-based feedback control is also discussed to demonstrate the flexibility of method.