Sistema de control para grúa de pluma

摘要

The system has a jib (5) pivotably attached to a tower (2). An actuator (7) generates rocking motion of the jib, and another actuator rotates the tower. Two control devices control the respective actuators, and depend on reversion of nonlinear systems. One of the control devices controls swinging of a load (3) in a radial direction, where acceleration of the load in the radial direction is counterbalanced based on the rotation of the tower by the rocking motion of the jib dependent on the rotational speed of the tower.