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Invariant-Based Inverse Engineering for Fast and Robust Load Transport in a Double Pendulum Bridge Crane
Ion Lizuain1, Ander Tobalina2, Alvaro Rodriguez-Prieto1
1Department of Applied Mathematics, University of the Basque Country UPV/EHU, 48013 Bilbao, Spain.
Entropy (Basel, Switzerland)
|December 8, 2020
Summary
We developed a novel strategy for controlling double-pendulum bridge cranes. This method ensures smooth payload transport without oscillations, improving crane operation efficiency and safety.
Area of Science:
- Mechanical Engineering
- Control Theory
- Robotics
Background:
- Bridge cranes with double pendulums are prone to payload oscillations.
- Precise control is crucial for efficient and safe material handling.
Purpose of the Study:
- To design a control strategy for double-pendulum bridge cranes.
- To achieve payload transport without residual excitation.
Main Methods:
- A shortcut-to-adiabaticity strategy was employed.
- Trolley motion trajectories were designed using this strategy.
- Comparison with exact dynamics determined the working domain.
Main Results:
- Payload transport without residual excitation was guaranteed.
- The method is effective regardless of initial conditions within the small oscillations regime.
- The approach is free from instabilities caused by boundary effects or resonances.
Conclusions:
- The shortcut-to-adiabaticity strategy provides a robust and stable control method for double-pendulum bridge cranes.
- This approach enhances operational efficiency by eliminating payload oscillations.
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