Studies on Sway Control Systems for Rotary Cranes : Sway Control of a Scale-Down Model during Boom Hoisting Operations

This paper is concerned with the sway control system for rotary cranes during boom hoisting operations. The sway control system in lever operations has been performed by developing a sway angle sensor and a sway controller, and the load sway is regulated by a feedback control, as reported previously. A sway control system during boom hoisting operations is developed by applying the regulator theory to a linearized crane model, which consists of the feedback of boom hoisting and sway angles, and their derivatives. It is confirmed by comparison of analytical and experimental results that the proposed sway system during boom hoisting operations shows excellent control performance.