Abstract：To deal with the poor operational and low reliability existing in the tradition lifting sling, a self-leveling
lifting sling has been developed. It can automatically regulate the movement tendency of the main lifting point based on the
current pose of suspended cargo, to achieve leveling suspended cargo; Meanwhile, it also can automatically calculate the
barycenter of suspended cargo to adjust the final postion of the main lifting point, thus reach the suspended cargo leveling.
Eventually, the design of lifting sling control system is based on these two above control strategies.
刘净瑜，王 荣，王 颜. 一种水平式自动调节吊具控制方法[J]. 航空制造技术, 2017, 60(17): 107-109.
LIU Jingyu, WANG Rong, WANG Yan. A Method of Self-Leveling Control of Lifting Sling. Aeronautical Manufacturing Technology, 2017, 60(17): 107-109.
2017, 
