Recently, the requirements for the automatic operation of container cranes have been increasing. Anti-sway control and positioning control of a loaded container are key technology to achieve automatic operation. In attempting this, we have developed optimal feedback control by applying LQ theory, a sway sensor using image processing technology and skew control with movable sheave mechanisms which are small traversers on trollies. As a result, we achieved precise and smooth control of the anti-sway and positioning sysyem for the automation of container cranes.
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