Model predictive control for overhead crane with variable rope length

Bridge cranes with rope length freedom are becoming more and more common in order to increase the operational efficiency of crane systems. In this paper, the Model Predictive Control (MPC) method is applied to an overhead crane system with variable rope lengths. Firstly, the dynamic model of the crane system is established and the state space equation of the system is constructed. Secondly, the model predictive controller is designed based on the optimal method. Finally, the effectiveness of the proposed method is verified through comparative experiments. The simulation results show that the proposed method effectively improves the positioning accuracy and load swing suppression ability of the system.