Precise positioning online trajectory planner design and application for overhead cranes
HE Bo
FANG Yong-chun
LIU Hai-liang
SUN Ning
Abstract：For an industrial overhead crane, it is usually very difficult for its asynchronous motors to track the planned trajectories exactly, which results in large positioning errors when employing an off-line trajectory planner on the system. Motivated to solve this problem, this paper proposes an on-line trajectory-planning method based on phase plane analysis. To achieve the objective of precise positioning, the parameters of the constructed trajectory are updated based on the trolley’s position measured by laser rangefinders when the overhead crane is under operation, and the operating time for different stages of the trajectory are optimized according to the distance between the trolley and the target position. Experimental results show that this method simultaneously achieves the requirements of rapid swing elimination and precise positioning of the trolley, improving operating efficiency of overhead cranes. The designed trajectory planner is successfully applied to a standard 32 tons industrial overhead crane and achieves satisfactory performance.
Keywords：craneonline trajectory planningprecise positioning
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 1352-1358 )