Gantry Crane Dynamic Modeling and Motion Control

Abstract

In this paper, a new anti-swing control scheme is proposed for a three dimensional gantry crane. The proposed control is based on linear two optimum output regulation technology. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by simulation with a three-dimensional gantry crane.