Anti-swing Switching Control for Overhead Cranes

Moving a suspended load along a pre-specified path is not an easy task when strict specifications on the swing angle and the transfer time need to be satisfied. We analyze the mutual relationship between the swing angle of the load and the acceleration of the trolley according to the mathematic model of the trolley and load swing. Anti-swing switching control for overhead crane, which belongs to a kind of under actuated system, is presented from the view point of the conservation of energy. By the camera and reflectors composed of the sensor detects the image to get the swing angle signal, which is introduced to build a closed-loop control system. Velocity-switching instruction of the trolley is given in order to eliminate the swing angle. The computer simulations and experiments with the laboratory-size model of the overhead container system verify the effectiveness of the proposed method.