Anti-swing control of the container crane by fuzzy control

We introduce a control method of container crane using fuzzy control to transport the load correctly, rapidly, safely, and without swing. First, anti-swing fuzzy control rules are made from skilled operators´ experience. Next, traveling acceleration time is calculated with considering the position of obstructions and rope length at the maximum traveling speed. Finally, when trolley decelerates, we adjust the traveling time of constant speed section by refering swing angle and change rate of swing angle at the beginning of deceleration. We also investigate the operation of container crane by using model experimental apparatus