Development of Operator Support System for Rotary Crane Considering Positioning and Sway-Suppression

The fundamental motion of a rotary crane is consisted of rotation, boom hoisting and load hoisting. The rotary crane is mainly being used in factories, construction sites, harbor and so on. However, the rotary crane has a problem such that load sway generated by the influence of acceleration of the carriage, centrifugal force, disturbance like a wind. The purpose of this paper is aiming at construction of the operation support system that everyone can control easily. In this system, it becomes possible to operate a crane at the arbitrary speed which an operator desires, and it is suppressing the vibration of a load automatically, when an operator operates a joystick. Straight line transfer can be performed on a rotary crane. The effectiveness of the control system is shown by simulations and experiments.