Discrete-time servo control of overhead cranes with robust load swing damping

Abstract

In this study, a new servo control system based on discrete-time state feedback approach is developed for overhead cranes to provide high performance trajectory tracking and load swing suppression as the main two objectives. Inspired by the idea of independent joint control in robot manipulator control field, a new model is derived in which the overhead crane actuators are considered as the main plant. The overhead crane nonlinearities are then treated as disturbances acting on each actuator and compensated via computed torque control in feedforward action. A new load swing control is designed and integrated to the servo controller through modifying reference trolley acceleration. A series of practical results is provided to indicate the stability and high performance of the proposed control system.