Anti-away control system for transfer cranes

摘要

An anti-sway control method is developed for transfer cranes, which has following merits. (1) Required time for container transfer can be minimiz- ed by planning an optimal trajectory with simultnae- ous motions of trolley and hoist. (2) Correct values of swing angle and swing angular velocity can be measured by image signal processing with disturbance observer technique, even if a direc- tion of camera has deflection to vertical line. As results of automatic transfer test of the method, remai- ning sway of a container was within ±50mm and its positiion- ing error was less than 20mm. it is also ensured that the method can shorten a mean value of cycletimes for container transfer.