摘要:Large load swing of a gantry crane, due to cable rnflexibility and rapid movement, needs to be rncontrolled. Herein, a rnwave-based approach interprets the cable motion as rntwo superposed traveling waves. To combine position rnand active swing control,rnthe trolley motion and load hoisting are carefully rndesigned here, and a practical approach is adopted to rndesign hoisting motions in the rnupward and downward manoeuvres, counteracting their rnreverse effects on the load swing. A robust control rnalgorithm, based on the rnmodel of the crane system, is proposed to realize the rntrolley and hoisting motions, allowing for load rnvariations and parameter rnuncertainties. This new solution to motion control of rna gantry crane works very well, and is stable and rnadaptive to large load rnvariations. As demonstrated in the simulation rnexperiments, it lands the load rapidly and exactly at rntarget and stops it dead, with nearly rnzero swing.