무진동 크레인을 이용한 흔들림 제어에 관한 연구

A study on the swing control using anti-swing orane

An anti-swing controller for an overhead crane in the stop position is designed. The developed anti-swing controller improves on the poor damping characteristics of overhead crane by feeding back the crane acceleration as a function of swing angular speed. The experimental results show that this crane using the proposed controller yields small stop position error and rapid damping response characteristics.