Double-Pendulum Tower Crane Trolley Trajectory Planning: A Parameter Based Time-Polynomial Optimization

Double-Pendulum Tower Crane Trolley Trajectory Planning: A Parameter Based Time-Polynomial Optimization Shichen Sun, Juhao Su, Yu Hin NG, Ching-Wei Chang Pages 213-219 (2024 Proceedings of the 41st ISARC, Lille, France, ISBN 978-0-6458322-1-1, ISSN 2413-5844) Abstract: Modeling the tower crane as a double pendulum dynamic system introduces complexities in control considerations. To tackle this challenge, this paper presents a time-polynomial-based trajectory generation method. This method enables the reconstruction of direct commands and employs high-order fitting to align with various control constraints. The differential solutions of the swing angles, obtained from the linearized dynamic equations, can be minimized as the trolley completes its movement. Additionally, the trajectory is optimized based on time considerations to ensure the most efficient path while adhering to the safety limitations of the tower crane. With the proposed method, the trajectory curve of the trolley is a high-order polynomial with all the coefficients related to the system parameters, which makes the trajectory applicable against the change in the system parameters. Based on the trolley actuator output, the function of the swing angles could be derived as the feedback reference line to make the proposed control method robust against external disturbance. The efficacy of the proposed method is validated through real-scale simulations and compared to existing approaches, including linear quadratic regulator (LQR) and another published CTP method, demonstrating its good control performance. Keywords: Tower crane, Double pendulum, Time-based polynomial, Trajectory planning DOI: https://doi.org/10.22260/ISARC2024/0029 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley