Abstract
The gantry crane is widely used, but easy to accidents, which mostly due to the invalid control of cargo-swing. Based on the appropriate dynamic model and the characteristics of gantry crane, the Hybrid Optimal (HYO) input shaper is designed by interpolation method. HYO input shaper combines the advantages of Zero Vibration Derivation(ZVD) input shaper on the slightly cargo-swing and the Extra Insensitivity(EI) input shaper on the greatly cargo-swing. The comprehensive property of HYO input shaper is better than ZVD and EI input shaper. HYO input shaper effectively suppresses the cargo-swing of gantry crane within 0.018 rad, largely avoids the accidents caused by unstable control of the gantry crane.
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