Straight transfer control system using PI control and trajectory planning in overhead traveling crane

This paper contributes an advanced transfer control system for overhead traveling crane. In order to suppress the load sway and reach at the target position within a short time, the transfer control system using 2-DOF control approach which consists of PI control and reference trajectory planning is proposed for straight transfer in the crane system. In the proposed approach, PI control is applied for suppressing the vibration caused by some disturbances. And, the reference trajectory is optimized to reach rapidly at the target position and suppress the vibration caused by transferring the cart. The quadratic programming is used in the reference trajectory optimization. The proposed control system has the robustness to vary the rope length. The effectiveness of the proposed control system is verified in experiments using the laboratory type overhead traveling crane.