New anti-swing control scheme based on position compensation for overhead cranes

To reduce payload swing of overhead crane systems, a new anti-swing control scheme based on position compensation is proposed. The horizontal position deviation of the payload to the trolley evaluated from the payload oscillation angle is multiplied by the self-adaptive feedback gain to modify the reference input, thus a reasonable damping is exerted on the system to effectively suppress the swing. Simulated and experimental results show that the control technique enables to reduce the maximum amplitude of transient swing angle to 60%, and suppress the residual vibration to 20% during one half oscillation period. Since the feedback gain varies with the system parameters, the proposed control scheme is robust to the parameter variations caused by raising or lowering motion, and the control technique is easy to implement practically due to the insensitivity to noise.