Analysis and Experiment of Residual Load Sway Suppression in Rotary Crane Systems Using Simple Trajectory for Horizontal Boom Motion

To suppress two-dimensional load sway caused by the horizontal boom motion of a rotary crane, both horizontal and vertical boom motions are generally used. However, it would be more energy efficient and safer if a control scheme is developed that only used horizontal boom motion, eliminating the need for any vertical boom motion. In addition, if we can suppress load sway without the need to measure it, reduction in the cost of sensors can be achieved. Furthermore, use of simple velocity trajectory patterns such as a trapezoidal velocity pattern and an S-curve acceleration/deceleration pattern, which are widely used in industrial automation systems, may provide costeffective implementation of controllers. This study examines the analytical conditions for a simple S-curve trajectory of horizontal boom motion to suppress residual load sway without sensing it. Numerical simulation and experimental results demonstrate the effectiveness of the proposed conditions.