An anti-sway positioning control method via load generalized position tracking with disturbance observer. (November 2020)

• Record Type: Journal Article
• Authors: Niu, Dan; Zhu, Yuxuan; Chen, Xisong; Li, Qi; Wang, Xiaojun; Yang, Yanlan; Wang, Simin
• Is Part Of: Measurement and control. Volume 53:Number 9/10(2020)
• Page Start: 2101
• Page End: 2110
• Publication Date: 2020-11
• Subjects: Bridge crane -- anti-sway control -- disturbance observer -- load generalized position tracking; Automatic control -- Periodicals; Engineering instruments -- Periodicals; Production engineering -- Periodicals; 629.8
• DOI: 10.1177/0020294020962133
• Languages: English
• ISSNs: 0020-2940

Abstract

The bridge crane system is widely used in the industrial production for transporting large loads. Its anti-sway positioning control is quite crucial for enhancing handling efficiency and safety, but it is also difficult due to underactuated dynamics and various disturbances. In this paper, an anti-sway positioning control algorithm for unmanned crane is proposed based on the load generalized position tracking control algorithm (GPTC), which combines with a disturbance observer to effectively reject the lumped disturbances. The test results show that the proposed method can effectively achieve anti-sway and positioning with prominent disturbance suppression improvements.