Anti-swing control of double-pendulum crane based on command smoothing and active disturbance rejection control

To solve the problem of long anti-swing time, low positioning accuracy and poor anti-disturbance ability of double-pendulum overhead crane without payload swing angle sensor, the smooth shaping technology and active disturbance rejection control were integrated as an anti-swing control method for double-pendulum crane. Firstly, aiming at the large impact of traditional trapezoidal speed trajectory on the double swing crane, the trapezoidal speed trajectory was smoothly shaped by using the smooth shaping technology, which can ensure the smooth operation of double-pendulum crane. Secondly, the dynamic model of double-pendulum crane was transformed to obtain the state equations of trolley motion and load swing, which included total disturbance and unknown load swing angle. In order to suppress the influence of total disturbance on trolley motion and load swing and realize load state feedback without load swing angle sensor, three extended state observers were designed to estimate and compensate the total disturbance of trolley motion and load swing. This aimed to observe the load swing angle in real time and feed it back to the front end to control the load dynamics, respectively. Then a dual-channel active disturbance rejection controller for positioning and anti-swing of bridge crane was formed, and the stability of the closed-loop system were strictly proved in theory. The simulation results show that the designed observers can estimate the total disturbance of trolley motion and payload swing accurately, and observe payload swing angle in real time, and the designed hybrid control strategy can smoothly transport the payload to the target position under the change of model parameters and external disturbance, and suppress payload swing effectively. © 2022, Central South University Press. All rights reserved.