Open AccessOptimal motion planning for overhead cranes
Author(s) -
Wu Zhou,
Xia Xiaohua
Publication year - 2014
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.0069
Subject(s) - jerk , overhead (engineering) , overhead crane , efficient energy use , acceleration , energy consumption , optimal control , swing , control theory (sociology) , trajectory , motion planning , computer science , energy (signal processing) , motion control , motion (physics) , control (management) , mathematical optimization , control engineering , engineering , mathematics , robot , mechanical engineering , statistics , physics , electrical engineering , structural engineering , classical mechanics , artificial intelligence , astronomy , operating system
Overhead cranes are widely used in industrial applications for material displacing. Many linear or non‐linear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This study aims at finding an optimal solution of motion planning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtained with less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such as swing, acceleration and jerk. Besides the energy optimal model, the authors also propose two other models to optimise time efficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories, and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety, respectively.