Anti-Sway System for Slewing Cranes

In the last few years, automation of slewing cranes is gaining more and more importance in transport and handling processes. However, each operation of crane with rope-suspended loads provokes swaying movements of load. Neutralization of these swaying movements represents a key problem when high handling speeds, operational reliability, accurate traveling trajectories and positioning are required. Parameter variations and force interactions between rotary and translation movements in slewing cranes call for a special approach when designing the control scheme. The presented paper deals with optimal control of slewing cranes. It will show that optimal control strategy copes very well with the mentioned problems.