Anti-sway Control of Crane Lifter Based on Automatic Measurement of Lifter Attitude

Abstract

In many cranes, anti-sway control of crane-lifter is used for automatic operation. The authors previously proposed an automatic dynamic measurement system which measures the attitude of a crane lifter by using an accelerometer located on the lifter. The system enabled on-line measurement of the lifter attitude by introducing a dynamic model of the motion of the crane-lifter and using Kalman filters. By using the measurement system, this paper shows an anti-sway control method which is based on a simple velocity pattern of a trolley of the crane. Experimental result is also shown in the paper.