Studies on Sway Control Systems for Rotary Cranes. Development of a Sway Angle Sensor and Sway Control of a Scale-Down Model during Swing Operation.

This paper is concerned with the sway control system for rotary cranes during swing operation. The sway control system in lever operation is successfully performed by developing a sway angle sensor and a sway controller. The proposed sensor is composed of strain gauges and a FIR filter which can measure the sway angle with time-lag using boom strain. The load sway is regulated by applying the regulator theory to a linearized crane model. It is confirmed by comparison of analytical and experimental results that the proposed sway system shows excellent performance and allows easy operation from a practical viewpoint.