Anti-swing Design of an Overhead Crane based on Optimal Preview Control

Rapid positioning and swing angle suppression are very important to the working efficiency and safety of the cranes, a novel anti-swing control strategy is proposed based on the preview control. Firstly, a control-oriented mathematical model is established for the controller design. Secondly, an error system is constructed to transform the tracking problem into a regulation problem. In order to integrate the future known information of the system, an extended error system is constructed and the preview controller is designed using linear quadratic regulator (LQR) principle. The obtained control law includes the feedforward compensation term of the future information, which improves the dynamic performance of the system. Finally, the computer simulation results show that the preview control system has obvious advantages over LQR control in overshoot, swing angle and control quantity, and the system also has certain robustness.