| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712124 | IFAC Proceedings Volumes | 2014 | 6 Pages |
Energy efficiency is firstly considered into the control of overhead cranes. Based on the model of crane system, energy consumption as well as operational safety is formulated in an optimal control problem. The optimal control is used to search optimal trajectories of velocity and acceleration for minimizing energy consumption. Existing related work mainly focused on reducing transportation time and swing, but trajectory in this paper focuses on increasing energy efficiency of transportation while satisfying practical and physical constraints. Model predictive control (MPC) is then proposed to track optimal trajectories in real-time. As a result, the actual trajectories can match the reference trajectories with small errors when external disturbances exist. In the simulation, it can be shown that the proposed control approach can improve energy efficiency of overhead cranes robustly.
