Parabolic angle-based anti-sway control for container cranes with limited dynamic loads

A novel anti-sway control system for cranes is proposed. The proposed method is based on the formation of a predetermined angle of deviation as a piecewise-continuous parabolic function, the second derivative of which does not experience discontinuity, and its third derivative is a rectangular pulse of certain variable-sign amplitude, which eliminates the mechanical stress in the crane construction and kinematic gears. The proposed method provides damping of the oscillations of the suspended load during its horizontal motion (in two orthogonal coordinates) and hoisting/lowering. The control method is invariant to the mechanism/payload mass ratio, lift height and hoisting speed.