System and Method for anti-sway control of crane

摘要

PURPOSE: A system and method for suppressing and controlling sway of a crane is provided to stably perform control of a crane at a low price without lowering of the performance by controlling the swaying angle. CONSTITUTION: A crane is equipped with a spreader, a trolley, and a trolley drive(600). A system for suppressing and controlling sway of a crane includes acceleration sensors(300), an observer(400), and a feedback control unit(500). The acceleration sensor is installed to the spreader or trolley, and the acceleration sensor detects the acceleration produced when transferring load. The observer receives the detected acceleration, observing all the conditions to control sway of the load with using the speed of the trolley transmitted from the trolley drive, the lifting and lowering speed of the rope, and the acceleration. The feedback control unit produces command value to the movement of the trolley to suppress the sway of the load and transmits the value to the trolley drive after receiving the data of the all the conditions. The control of the crane is stably performed at low price because of not using a vision sensor.