Time-optimal bridge crane track planning method based on differential flatness and B-spline

The invention relates to a time-optimal bridge crane track planning method based on differential flatness and a B-spline, and aims at solving the automatic control problem of a nonlinear bridge crane. The method is good in performance of locating a trolley and eliminating the swinging of a load. The method comprises the following steps of proposing system flatness output which is used for processing a coupling relation between the motion of the trolley and the swinging of the load; converting track parameters to a B-spline curve form with to-be-optimized parameters by utilizing the continuity and smoothness of the B-spline curve; obtaining a time-optimal track by utilizing a polygonal optimization algorithm by considering constraints such as the swinging angle of the load and the acceleration of the trolley. The track planning is carried out by utilizing the differential flatness characteristics of a bridge crane system, so that the analysis on the complicated coupling characteristics of the system can be avoided; moreover, the selected track form has an analytic expression; meanwhile, the time-optimal track is obtained by utilizing the optimization algorithm. The simulation and experimental result shows that the control effect is good, and the real application value is good.