Development of Training Simulator for Sway Suppression Skills on Shipboard Rotary Cranes

摘要

In this paper, we develop the operational training system by teaching control input to crane operators. In particular, it is applied to the sway suppression control of load, by utilizing optimal control input. If crane operators can replicate its control input, they can operate crane suppressing the load sway, and hope the advance of training effect. Firstly, we build a shipboard rotary crane simulator, and verify the validity of the training simulator by transfer simulation. Nextly, it presents a sway suppression control method to obtain control input for crane operators, and proposes the training system to teach its control input to operators. Finally, the crane simulator integrates this training system, and the proposed training system verifies the validity by subjects experiments.