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Operator control systems and methods for swing-free gantry-style cranes

Patent ·
OSTI ID:871734
 [1];  [1]
  1. Albuquerque, NM
+ Show Author Affiliations

A system and method for eliminating swing motions in gantry-style cranes while subject to operator control is presented. The present invention comprises an infinite impulse response ("IIR") filter and a proportional-integral ("PI") feedback controller (50). The IIR filter receives input signals (46) (commanded velocity or acceleration) from an operator input device (45) and transforms them into output signals (47) 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 (25). 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 (27). 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.

Research Organization:
SANDIA CORP
DOE Contract Number:
AC04-94AL85000
Assignee:
Sandia Corporation (Albuquerque, NM)
Patent Number(s):
US 5785191
OSTI ID:
871734
Country of Publication:
United States
Language:
English

References (8)

Inverse Dynamics and Kinematics of Multi- Link Elastic Robots: An Iterative Frequency Domain Approach journal December 1989
Nonlinear Modeling and Control of Overhead Crane Load Sway journal September 1988
Time optimal control of overhead cranes with hoisting of the load journal July 1987
Electromechanical modelling of overhead cranes journal December 1992
A simplified approach of crane control via a generalized state-space model conference January 1991
Digital shaping filters for reducing machine vibration journal April 1992
Analysis of multi-link flexible manipulators via asymptotic expansions conference January 1989
Control and system identification of a two-link flexible manipulator conference January 1990

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Related Subjects

/212/
25
27
45
46
47
50
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