Proposals for a cargo anti-sway method using motor torque control

The paper discusses the cargo anti-sway method based on the induction motor torque control using modern variable frequency drives. The main equations relating the tractive force and the cargo sway angle, on the basis of which the motor torque control law is formulated for zero cargo sway at the end of accelerating and braking, are written. The results of simulating the behaviour of the two-mass trolley-cargo system are presented for the typical ratios of the cargo weight to the rope length, which support the assumption about the feasibility of cargo anti-sway control by direct motor torque control.