Sway Suppression of Suspended Payloads With Hoisting Using Digital Filters

A method is proposed for the suppression both of the transient as well as the residual sway of suspended payloads, including also cases where hoisting occurs during the payload transfer motion. The proposed method is based on the preconditioning of the inputs to the system by digital filtering the input function. Conventional FIR or IIR digital filters can be used for the preconditioning approach. The method is demonstrated in the case of a suspended load carried by a gantry crane. Extensive simulation results clearly verify the effectiveness of the approach.