A Multi-Operational-Mode Anti-Sway and Positioning Control for an Industrial Bridge Crane

摘要

A 30-ton industrial bridge crane located at an aluminum sheet manufacturer has been equipped with a crane manipulation system enabling swing-free motion, disturbance rejection, and precise positioning. Previous investigations of anti-sway, positioning, and crane control have yielded important contributions in these areas. These advancements are combined into the unified crane manipulation system described here. An overview of this system is presented, along with experimental results, and a description of how human operators use the crane.