Anti-Sway System for Automated Crane

자동화 크레인을 위한 흔들림 방지 시스템

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes arc passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. :opes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-sidc container cranes. In this paper, we derive cquatlons of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.