AHRS Based Anti-Sway Tower Crane Controller

This paper describes application of new method of tower crane control during load transportation process. Stability and steady position change of transported load is very important during any transportation operation performed by the tower crane. Position control algorithm during transportation process was designed and realized for laboratory model of tower crane. AHRS (Attitude and Heading Reference System) and Fuzzy Logic Controller (FLC) were used for maintaining stability of the load and damping its oscillations. Combination of AHRS sensor system and fuzzy controller provides a wide variety of stability control methods, short reaction time and load oscillation damping. This control and load stabilization method might be used in real life tower cranes applications.

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