抄録
Recently, the enlargement of the container crane and shortening of the loading and unloading time are required, because a container ship is large. And, automation of transportation work with crane is demanded because of the deficiency of skilful operator, reduction of distribution cost and high efficiency. Anti-sway control is the indispensable technology which realizes the easy operation and automation of the crane. We developed an anti-sway control technique based on the feed-forward control of acceleration compensation and the feed-back control of sway, and proved the performance of this technique by the experiment of applying it to the actual container crane. It was confirmed that this control system gave the container crane satisfactory performance for the automation and didn't give the operator uncomfortable, as the result of that experiment.
