Anti-Sway Control for Bulk Terminal Gantry Cranes Based on MFAC

To address the problem of lifting weight sway generated by underactuated gantry cranes during operation, considering the load diversity of the portal machine and other disturbance effects, this paper proposes a control method that does not rely on an exact model. Firstly, a simple kinematic model of the gantry cranes is established and dynamically analyzed, then a compact form dynamic linearization is performed to obtain the data model, a pseudo-partial derivative estimation law is computed online, a model-free adaptive control based gantry cranes anti-sway controller is designed, and finally a simulation analysis is performed. The simulation results show that the load swing angle amplitude is effectively suppressed and quickly dissipated, while it has strong robustness to external unknown disturbances. Compared with the PID control simulation analysis, this control algorithm has more effective anti-sway control effect and can reach the stable state faster.