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Title: Swing-Free Cranes via Input Shaping of Operator Commands

Abstract

This paper presents an open-loop control method for suppressing payload oscillation or swing caused by operator commanded maneuvers in rotary boom cranes and the method is experimentally verified on a one-sixteenth scale model of a Hagglunds shipboard crane. The crane configuration consists of a payload mass that swings like a spherical pendulum on the end of a lift-line which is attached to a boom capable of hub rotation (slewing) and elevation (luffing). Positioning of the payload is accomplished through the hub and boom angles and the load-line length. Since the configuration of the crane affects the excitation and response of the payload, the swing control scheme must account for the varying geometry of the system. Adaptive forward path command filters are employed to remove components of the command signal which induce payload swing.

Authors:
; ; ;
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
Sponsoring Org.:
US Department of Energy (US)
OSTI Identifier:
10340
Report Number(s):
SAND99-2185C
TRN: AH200125%%319
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: 16th International Symposium on Automation and Robots in Construction, Madrid (ES), 09/22/1999--09/24/1999; Other Information: PBD: 25 Aug 1999
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; HOISTS; AUTOMATION; OPEN-LOOP CONTROL; OSCILLATIONS; POSITIONING; ROBOTS; ROTATION; SCALE MODELS; SHIPS

Citation Formats

Groom, Kenneth N., Parker, Gordon G., Robinett, Rush D., and Leban, Frank. Swing-Free Cranes via Input Shaping of Operator Commands. United States: N. p., 1999. Web.
Groom, Kenneth N., Parker, Gordon G., Robinett, Rush D., & Leban, Frank. Swing-Free Cranes via Input Shaping of Operator Commands. United States.
Groom, Kenneth N., Parker, Gordon G., Robinett, Rush D., and Leban, Frank. Wed . "Swing-Free Cranes via Input Shaping of Operator Commands". United States. https://www.osti.gov/servlets/purl/10340.
@article{osti_10340,
title = {Swing-Free Cranes via Input Shaping of Operator Commands},
author = {Groom, Kenneth N. and Parker, Gordon G. and Robinett, Rush D. and Leban, Frank},
abstractNote = {This paper presents an open-loop control method for suppressing payload oscillation or swing caused by operator commanded maneuvers in rotary boom cranes and the method is experimentally verified on a one-sixteenth scale model of a Hagglunds shipboard crane. The crane configuration consists of a payload mass that swings like a spherical pendulum on the end of a lift-line which is attached to a boom capable of hub rotation (slewing) and elevation (luffing). Positioning of the payload is accomplished through the hub and boom angles and the load-line length. Since the configuration of the crane affects the excitation and response of the payload, the swing control scheme must account for the varying geometry of the system. Adaptive forward path command filters are employed to remove components of the command signal which induce payload swing.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {8}
}

Conference:
Other availability
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