Mohammad Ebrahimi - Assistant Professor in Electrical Engineering.
Amir Khoobroo - MSc Student in Electrical Engineering.
Mostafa Ghayour - Assistant Professor in Mechanical Engineering.

This paper proposes a vision-sensorless anti swing control scheme, where the swing angle of the suspended load is estimated using a velocity sensor. By using this estimated swing angle many different control strategies can be implemented. To suppress the swing angle of the suspended load a damping signal has been added to speed reference, which is calculated from the estimated angle. In conventional methods, it has been achieved using a vision sensor and processing unit, so it would be more expensive and sensitive than the proposed vision sensorless method. The usefulness of this method is verified using computer simulation.

overhead crane, velocity sensor, dynamic analysis, antisway control