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Cargo sway caused by overhead crane operation not only reduces crane efficiency and safety but also affects the driving force and energy consumption of the operating mechanism. In this paper, a control scheme based on proportional derivative (PD) control and an input shaping technique is proposed to suppress cargo sway. First, the dynamics model of the crane system is established, and the mathematical expressions of the cargo sway, driving force, and energy consumption are derived. The accuracy of the dynamics model is verified through a comparison between the simulations and experiments. Then, a PD-IS controller is designed based on the dynamics model. Finally, the performance of the designed controller is simulated under four typical excitation signals and compared to that of the standard PD controller.
Gao et al. (Fri,) studied this question.