Swing-Free Cranes via Input Shaping of Operator Commands
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.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Sandia National Lab. (SNL-CA), Livermore, CA (United States)
- Sponsoring Organization:
- US Department of Energy (US)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 10340
- Report Number(s):
- SAND99-2185C; TRN: AH200125%%319
- 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
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