Purnomo, Didik Setyo and Ningrum, Endah Suryawati and Alasiry, Ali Husein and Tamara, Mohamad Nasyir (2010) Anti-Sway Control for Haptic Crane for Application of Material Handling by Using Active Force Control (AFC). In: 2nd International Seminar on Applied Technology Science and Arts (2nd APTECS) 2010, 21-22 Desember 2010, Graha Sepuluh Nopember, ITS, Surabaya.
Abstract
This paper focuses on anti-sway control system for haptic crane that uses accelerometer and weight sensor as sway sensor and mass calculation of payload. The control method proposed is AFC which is able to control more accurate and robust while transport the payload to another location and at the end of the movement as fast and as accurate as possible. To do this the dynamic mathematical model of the crane is introduced. The result shows that the addition of weight sensor and accelerometer as an additional parameter in AFC loop calculation in the hook gives better performance even with several disturbances than the PID control.
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