Operator control systems and methods for swing-free gantry-style cranes
A system and method are disclosed for eliminating swing motions in gantry-style cranes while subject to operator control. The present invention comprises an infinite impulse response (IIR) filter and a proportional-integral (PI) feedback controller. The IIR filter receives input signals (commanded velocity or acceleration) from an operator input device and transforms them into output signals in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder. The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor. The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload. 10 figs.
- Research Organization:
- Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- Assignee:
- Sandia Corp., Albuquerque, NM (United States)
- Patent Number(s):
- US 5,785,191/A/
- Application Number:
- PAN: 8-651,166
- OSTI ID:
- 672489
- Resource Relation:
- Other Information: PBD: 28 Jul 1998
- Country of Publication:
- United States
- Language:
- English
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