A new anti-swing control of overhead cranes

摘要

This paper presents a new method for the deisgn fo an anti-swing control system for overhead cranes. The velocity servo system of a crane is modeled based on experiments. The model of the velocity servo system is used for the design of the position servo system of the crane via the loop shaping method. The position servo system and the swing dynamics of the crane load are then used to design the antiswing control system based on the root locus method. In the presence of low frequency disturbances, the new anti-swing control system guarantees both zero steady state errors for position control and fast damping for load swing. Experimental results on a prototype crane show the effectiveness of the new anti-swing control system.