Time-Optimal Anti-swing Trajectory Planning of Double Pendulum Crane Based on Chebyshev Pseudo-spectrum Method

As a typical underdrive system, an overhead crane has been widely used in modern industrial production and transportation. However, when the load volume in the crane system is too large or the hook quality is too large, the bridge crane system will show the characteristics of double-pendulum, increasing the difficulty of control. Based on this, this paper proposes a time-optimal trajectory planning method for the double-pendulum bridge crane system, which can be obtained. Specifically, the paper first transforms the system kinematics model; based on this basis Then, considering the various constraints including the two-level swing angle and the trolley speed and acceleration limit, the optimization problem is transformed into a nonlinear programming problem which is easier to solve, and the trajectory constraints can be considered very conveniently in the conversion process. Solving the nonlinear programming problem yields the time-optimal trolley trajectory. Finally, the simulation results show that the time-optimal trajectory planning method has satisfactory control performance.