Active attitude control of crane hoisting system based on NMPC algorithm

With the rapid development of construction industrialization, modular construction has been widely applied due to its advantages such as high efficiency and environmental friendliness. As the core hoisting equipment, the crane hoisting system faces issues like poor stability and low intelligence, which have become key technical bottlenecks restricting construction efficiency. To address the above problems, this study aims at the anti-swing control of the lifting and traveling mechanism, and establishes a dynamic model of the lifting and traveling mechanism with a double-pendulum effect. Based on this model, a nonlinear model predictive controller (NMPC) is designed, followed by simulation analysis and experimental verification. The simulation results show that the designed controller can effectively suppress the load swing during the movement of the trolley (the tilt angle is controlled within ±1°) and exhibits good robustness under different working conditions. In addition, by building a scaled-down experimental platform, the accuracy of the simulation model and the actual performance of the controller are further verified. This research provides an efficient and accurate hoisting solution for improving the precision and efficiency of tower crane systems in modular building construction, and is of great significance for promoting the development of modern construction technology.