JRM Vol.28 No.5 pp. 646-653
doi: 10.20965/jrm.2016.p0646


Antisway Control for a Rotary Crane by Using Evolutionary Computation

Akira Abe* and Keisuke Okabe**

*Department of Systems, Control and Information Engineering, National Institute of Technology, Asahikawa College
2-2-1-6 Shunkodai, Asahikawa, Hokkaido 071-8142, Japan

**Department of Mechanical and Aerospace Engineering, School of Engineering, Tohoku University
6-6-01 Aoba, Aramaki, Aoba-ku, Sendai, Miyagi 980-8579, Japan

February 18, 2016
June 8, 2016
October 20, 2016
antisway control, trajectory generation, open-loop control, particle swarm optimization, rotary crane

Antisway Control for a Rotary Crane by Using Evolutionary Computation

Photograph of the experimental setup

We present a simple antisway control method for a rotary crane, whose load can move in a two-dimensional plane. In particular, we investigate the suppression of residual sway motion of a rotary crane with a boom that performs point-to-point motion. In the proposed method, we attempt to generate the trajectory of the boom using a combination of polynomial and cycloidal functions. The profile of the generated trajectory depends on the coefficients of the polynomial function. Thus, it is necessary to tune the coefficients to minimize the sway motion in the two-dimensional plane as much as possible. We adopt a particle swarm optimization algorithm, an evolutionary computation technique, to tune the coefficients and then obtain the optimal trajectory. By rotating the boom along the optimal trajectory, the two-dimensional residual sway motion is suppressed, i.e., an open-loop control is realized. The effectiveness and feasibility of the proposed control scheme is demonstrated via simulations and experiments.

Cite this article as:
A. Abe and K. Okabe, “Antisway Control for a Rotary Crane by Using Evolutionary Computation,” J. Robot. Mechatron., Vol.28, No.5, pp. 646-653, 2016.
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Last updated on Nov. 12, 2018