An active swing suppression control scheme of overhead cranes based on input shaping model predictive control

Abstract

An input shaper-based model predictive control scheme is proposed for an overhead crane to suppress the swing of the payload. A control-oriented mathematical model of the crane is firstly derived based on the small angle hypothesis. Furthermore, three kinds of commonly used shapers are discussed and a zero vibration derivative shaper is selected for the crane. Then, a model predictive swing suppression controller is designed for the crane based on the selected shaper. Constraints on the control input and its slew rate are respected. Besides, the constraint on the swing angle of the payload is also respected as an output constraint. The constrained solution is given in the form of standard quadratic programming. The designed control scheme combines open-loop and closed-loop control techniques, achieving accurate positioning of the trolley and good swing suppression of the payload. A series of simulation demonstrates the effectiveness and advantages of the proposed scheme.

KEYWORDS:

• Overhead cranes
• swing control
• model predictive control
• input shaping technology

Disclosure statement

No potential conflict of interest was reported by the author(s).

Data availability statement

All data generated or analyzed during this study are included in this study.

Additional information

Funding

This work was supported by the National Natural Science Foundation of China under Grant (number 62063018); the Science and Technology Program of Gansu Province under Grant (numbers 22JR5RA225 and 21JR7RA204).