Anti-sway Position Control of Crane based on Acceleration Feedback and Predicted Pattern Following Method

Abstract

We developed a new crane control system that has accurate anti-sway position control function of a hanged object. The control system consists of two blocks. One is for anti-sway control, and another is for the position control. Each output of the control blocks is calculated individually, and becomes the velocity reference for the trolley of the crane. The anti-sway control was realized by the acceleration feedback, and the position control is carried out by following the pattern that is calculated so that the trolley stops smoothly at the predetermined standstill position. We confirmed the effectiveness of this controller through experiments.