Tranditional electronic sway control system adopts force-control mode, which needs a great deal calculation.
传统的电子控摇系统采用力控制方式，推导繁琐，计算量大。
Physical realization of the cranes modern intelligent electronic anti-sway control system must be based on the modern design of electronic circuit.
起重机现代智能电子吊重防摇控制系统的物理实现须建立在现代电子电路设计基础上。
In the sway control system of ships and cars the traditional measurement control system has to choose the high-cost inertia measurement device with high precision.
在舰船、车辆摇摆倾斜控制系统中，传统的测量控制系统必须选用高精度的惯性测量器件，成本较高。
Such method is open-looped, it is no need of Angle and angle-acceleration transducer, which reduced the cost of the anti-sway control system and promoted the system's dependability.
这种方法是开环的，不需要角度传感器或角加速度传感器，降低了消摆控制系统的造价，提高了可靠性。
Simulation results of the control system show it can drive the crane's joints to track the trajectory smoothly, but also can realize the anti-sway control of the load in the 3D space.
控制系统仿真结果表明该控制方法在控制起重机机械臂各关节平稳的跟踪给定轨迹的同时，能够实现吊重在三维空间的防摆控制。
Simulation results of the control system show it can drive the crane's joints to track the trajectory smoothly, but also can realize the anti-sway control of the load in the 3D space.
控制系统仿真结果表明该控制方法在控制起重机机械臂各关节平稳的跟踪给定轨迹的同时，能够实现吊重在三维空间的防摆控制。
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