DYNAMIC ANALYSIS, ANTI-SWAY AND VELOCITY CONTROL OF OVERHEAD CRANES

This paper proposes a vision-sensorless anti swing control scheme, where the swing angle of the suspended load is estimated using a velocity sensor. By using this estimated swing angle many different control strategies can be implemented. To suppress the swing angle of the suspended load a damping signal has been added to speed reference, which is calculated from the estimated angle. In conventional methods, it has been achieved using a vision sensor and processing unit, so it would be more expensive and sensitive than the proposed vision sensorless method. The usefulness of this method is verified using computer simulation.

Keywords:

overhead crane , velocity sensor , dynamic analysis , antisway control