Title: Parabolic angle-based anti-sway control for container cranes with limited dynamic loads

Authors: Kamal A. Khandakji; Victor Busher; Lubov Melnikova

Addresses: Department of Electrical Power and Mechatronics, Tafila Technical University, Tafila, Jordan ' Department of Electromechanical Systems with Computer Control, Odessa National Polytechnic University, Odessa, Ukraine ' Department of Electromechanical Systems with Computer Control, Odessa National Polytechnic University, Odessa, Ukraine

Abstract: A novel anti-sway control system for cranes is proposed. The proposed method is based on the formation of a predetermined angle of deviation as a piecewise-continuous parabolic function, the second derivative of which does not experience discontinuity, and its third derivative is a rectangular pulse of certain variable-sign amplitude, which eliminates the mechanical stress in the crane construction and kinematic gears. The proposed method provides damping of the oscillations of the suspended load during its horizontal motion (in two orthogonal coordinates) and hoisting/lowering. The control method is invariant to the mechanism/payload mass ratio, lift height and hoisting speed.

Keywords: anti-sway system; motion control; oscillations damping; container crane.

DOI: 10.1504/IJAAC.2019.098581

International Journal of Automation and Control, 2019 Vol.13 No.3, pp.282 - 300

Received: 23 Jan 2017
Accepted: 20 Sep 2017

Published online: 28 Mar 2019 *

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