1995 年 61 巻 592 号 p. 4629-4637
This study deals with the velocity and the sway control of hydraulic truck cranes in elevating operation. In order to control the load sway, a velocity pattern which reduces the load sway in elevating operation is determined. The velocity of the elevating cylinder is controlled to follow the velocity pattern by a PID controller which replaces the acceleration of elevating angle with the cylinder thrust force. The good effect of velocity and sway control is proven by analytical and experimental results.