Industrial Bridge Crane
Advanced Crane Control Laboratory

PROBLEM:  Crane Motion & Disturbances Cause Payload Swing  
Bridge and gantry cranes are highly flexible, responding in an oscillatory manner to external disturbances and motion of the bridge and trolley. Payload oscillation has adverse consequences. Swinging of the hook makes positioning difficult and inefficient. When the payload or surrounding obstacles are of a hazardous or fragile nature, the oscillations present a safety hazard as well.

SOLUTION: Combine Input Shaping, Disturbance Rejection, & Precise Positioning Controls
Input shaping eliminates motion induced vibration.  Feedback controller eliminates disturbance reduced vibration.


Block Diagram of Crane Controller.