Crane Anti-Sway Control System Algorithm

The damping of sways of a load during the operation of the bridge crane provides the increase of a mechanism performance. Damped load swings reduce the risk of accidents and traumatic situations. The paper describes the algorithm improving the operation of the system to eliminate the swings of the bridge crane load. Methods that are used to achieve this goal include mathematical modeling and computer simulation. The presented algorithm of the anti-sway system is based on the use of a load angle sensor with internal variables of the electric drive system. The algorithm of operation of the anti-sway system allows for the determination of the optimal value of the impact on the speed of the mechanical movement of the crane for a quarter of the period of load oscillation. The algorithm has four values to adjust and is very easy to set up and adjust.