Abstract: In this paper, time-delay filter technique is applied to the anti-sway control of cranes with load and is shown to significantly eliminate load residual sway. As a feed forward unit, time-delay filter does not require the measurement of swing angel of the load. It can eliminate load residual swing by merely shaping the acceleration control signal. It is a simple and easy method to be implemented in the microcomputer.

Key words: cranes, anti-sway, time-delay filter