Expert rule based time optimal control of crane loads

A fourth-order model is developed for a crane-load system. From this model a time optimal control scheme with input constraints is investigated for transferring the crane load with swing angle regulation. Rather than following a conventional numerical method approach for solving the two point boundary value problem, a rule-based approach inspired by the manual crane operation is proposed. It is shown that the time optimal control problem becomes the determination of the switching times. Based on the heuristics obtained, a set of expert rules is generated for the adjustment of the switching times. A simple iteration method for obtaining the optimal switching times is presented which provides an alternative solution when there is no analytical expression for a solution. From collected data a lookup table is generated. By incorporating an interpolation algorithm it is possible to transfer the crane load an arbitary distance without load pendulation at the destination in minimum time