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Title: Sway control method and system for rotary cranes

Patent ·
OSTI ID:872308
 [1];  [2];  [3];  [3];  [3]
  1. Tijeras, NM
  2. Houghton, MI
  3. Albuquerque, NM
+ Show Author Affiliations

Methods and apparatuses for reducing the oscillatory motion of rotary crane payloads during operator-commanded or computer-controlled maneuvers. An Input-shaping filter receives input signals from multiple operator input devices and converts them into output signals readable by the crane controller to dampen the payload tangential and radial sway associated with rotation of the jib. The input signals are characterized by a hub rotation trajectory .gamma.(t), which includes a jib angular acceleration .gamma., a trolley acceleration x, and a load-line length velocity L. The system state variables are characterized by a tangential rotation angle .theta.(t) and a radial rotation angle .phi.(t) of the load-line. The coupled equations of motion governing the filter are non-linear and configuration-dependent. In one embodiment, a filter is provided between the operator and the crane for filtering undesired frequencies from the angular .gamma. and trolley x velocities to suppress payload oscillation. In another embodiment, crane commands are computer generated and controlled to suppress vibration of the payload using a postulated asymmetrical shape for the acceleration profiles of the jib, which profiles are uniquely determined by a set of parameters (including the acceleration pulse amplitude and the duration and coast time between pulses), or a dynamic programming approach.

Research Organization:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
DOE Contract Number:
AC04-94AL85000
Assignee:
Sandia Corporation (Albuquerque, NM)
Patent Number(s):
US 5908122
OSTI ID:
872308
Country of Publication:
United States
Language:
English

References (14)

Time optimal control of overhead cranes with hoisting of the load journal July 1987
Modeling and control of a rotary crane for swing-free transport of payloads conference January 1992
Operator in-the-loop control of rotary cranes conference May 1996
Nonlinear Modeling and Control of Overhead Crane Load Sway journal September 1988
Analysis of multi-link flexible manipulators via asymptotic expansions conference January 1989
A simplified approach of crane control via a generalized state-space model conference January 1991
Control and system identification of a two-link flexible manipulator conference January 1990
Digital Filter Control of Remotely Operated Flexible Robotic Structures conference June 1993
Model-based damping of coupled horizontal and vertical oscillations in a flexible rod journal January 1991
Vibration suppression of fixed-time jib crane maneuvers conference May 1995
Digital shaping filters for reducing machine vibration journal April 1992
Inverse Dynamics and Kinematics of Multi- Link Elastic Robots: An Iterative Frequency Domain Approach journal December 1989
Electromechanical modelling of overhead cranes journal December 1992
Modeling and Control of a Rotary Crane journal September 1985

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Related Subjects

sway
control
method
rotary
cranes
methods
apparatuses
reducing
oscillatory
motion
crane
payloads
operator-commanded
computer-controlled
maneuvers
input-shaping
filter
receives
input
signals
multiple
operator
devices
converts
output
readable
controller
dampen
payload
tangential
radial
associated
rotation
jib
characterized
hub
trajectory
gamma
angular
acceleration
trolley
load-line
length
velocity
variables
angle
theta
phi
coupled
equations
governing
non-linear
configuration-dependent
embodiment
provided
filtering
undesired
frequencies
velocities
suppress
oscillation
commands
computer
generated
controlled
vibration
postulated
asymmetrical
shape
profiles
uniquely
determined
set
parameters
including
pulse
amplitude
duration
coast
time
pulses
dynamic
programming
approach
receives input
output signals
input signals
output signal
input signal
control method
computer generated
oscillatory motion
input device
desired frequencies
dynamic programming
filter receives
rotary crane
acceleration pulse
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