抄録
The purposes of controlling the crane are to transfer the cargo to the target point as quickly as possible with suppressing the swaying and to quickly minimize the residual sway at the target point. At present, the development of the anti-sway control system for a rotary crane is desired, because the operation of a rotary crane which achieved by cargo windup, boom derricking and boom slewing is very difficult. So, variety sensors to measure the condition of a cargo and controlled methods to reduce the sway are proposed. In this paper, we show to be able to obtain the position of a cargo on three dimensions space by using the IMU, even if the attitude direction of cargo is unstable. And we tried to suppress the sway a cargo by experimental device.
