Abstract: To make the trolley of bridge crane move stably with smooth acceleration, a polynomial acceleration trajectory is proposed based on the constraint conditions of the crane and the friction between the trolley and the rail. An anti-swing plan is designed employing the dynamic coupling relationship between the motion of the trolley and the load swing. Results indicate that when the length of the rope is changed, the swing angle of the trolley is still within the limits. The stability of the system is proved by constructing Lyapunov energy equations, and the Barbalat lemma confirms that the planned reference trajectory can make the trolley motion converge to the target position and eliminate the swing. The rationality and superiority of the planned reference trajectory are verified by modeling and simulation in Matlab environment.

Key words: overhead crane, smooth, acceleration, trajectory, anti-swing