Pendulation control system and method for rotary boom cranes
Patent
·
OSTI ID:874693
- Albuquerque, NM
- Houghton, MI
A command shaping control system and method for rotary boom cranes provides a way to reduce payload pendulation caused by real-time input signals, from either operator command or automated crane maneuvers. The method can take input commands and can apply a command shaping filter to reduce contributors to payload pendulation due to rotation, elevation, and hoisting movements in order to control crane response and reduce tangential and radial payload pendulation. A filter can be applied to a pendulation excitation frequency to reduce residual radial pendulation and tangential pendulation amplitudes.
- 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 6442439
- OSTI ID:
- 874693
- Country of Publication:
- United States
- Language:
- English
Swing-Free Cranes via Input Shaping of Operator Commands
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conference | September 1999 |
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conference | May 1996 |
Command shaping control of an operator-in-the-loop boom crane
|
conference | January 1998 |
Experimental verification of a command shaping boom crane control system
|
conference | January 1999 |
Modeling and Control of a Rotary Crane
|
journal | September 1985 |
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pendulation
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command
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payload
caused
real-time
input
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filter
contributors
due
rotation
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tangential
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residual
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control
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boom
cranes
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reduce
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automated
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apply
filter
contributors
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movements
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excitation
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