Modeling and Control of Gantry Crane with Arm Type of Oscillation Stopper

The oscillation of a crane system is divided into the oscillation of container in respect of its trolley and the oscillation of trolley in relation to the whole crane system. We introduce a new type of crane system that avoids to the irreducible sway of crane system caused by hanging cables. The cables suspending the spreader are replaced by using an "anti-sway system". The proposed system is composed of mechanical arms with function of anti-sway based on conventional line system. The effectiveness of the proposed new type crane system and the controller is shown through the simulation results.