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<p>As a critical tool for cargo transportation, effective load swing suppression and precise trolley positioning are essential for crane operations. This paper draws inspiration from the input shaping and path planning anti-sway control methods, and proposes a continuous three-step acceleration input shaping anti-sway method based on phase plane trajectory planning. To suppress load swing effectively, the phase plane trajectory planning method is utilized to directly plan the running trajectory of the load swing in the phase plane. The constraints, including the maximum load swing, the maximum trolley velocity, and the target distance, are defined based on operational requirements and are subsequently used to determine the trolley acceleration amplitude and switching times. Finally, numerical simulations and comparative experimental verifications demonstrate that the proposed anti-sway control method effectively suppresses load swing and achieves precise trolley positioning under the specified constraints. The method exhibits significant advantages in addressing practical operational requirements.</p>

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Continuous three-step acceleration input shaping anti-sway control based on phase plane trajectory planning

  • 期刊论文

  • 发表日期：

    2026年1月16日

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  • Wenbo Huang,
  • Baochun Lu,
  • Chaoyang Weng

摘要

As a critical tool for cargo transportation, effective load swing suppression and precise trolley positioning are essential for crane operations. This paper draws inspiration from the input shaping and path planning anti-sway control methods, and proposes a continuous three-step acceleration input shaping anti-sway method based on phase plane trajectory planning. To suppress load swing effectively, the phase plane trajectory planning method is utilized to directly plan the running trajectory of the load swing in the phase plane. The constraints, including the maximum load swing, the maximum trolley velocity, and the target distance, are defined based on operational requirements and are subsequently used to determine the trolley acceleration amplitude and switching times. Finally, numerical simulations and comparative experimental verifications demonstrate that the proposed anti-sway control method effectively suppresses load swing and achieves precise trolley positioning under the specified constraints. The method exhibits significant advantages in addressing practical operational requirements.