A new anti-sway control scheme for trolley crane system

This paper proposes a new vision-sensorless anti-sway control scheme, where the sway angle of the load is estimated with a simple acceleration sensor, which can be equipped on the trolley. The sway of the suspended load is suppressed by adding the damping factor, which is calculated with the estimated sway angle. While conventional electric anti-sway systems need an expensive external vision sensor system, the proposed scheme is easily realized on the trolley speed controller with an acceleration sensor. The effectiveness of the proposed scheme is verified by computer simulation and experiments with a miniature of the trolley crane system.