Аннотация:
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
cargo 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.
