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Pendulation control system and method for rotary boom cranes

Patent ·
OSTI ID:874693
 [1];  [1];  [2]
  1. Albuquerque, NM
  2. Houghton, MI
+ Show Author Affiliations

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 CORP
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

References (5)

Modeling and Control of a Rotary Crane journal September 1985
Operator in-the-loop control of rotary cranes conference May 1996
Swing-Free Cranes via Input Shaping of Operator Commands
  • Groom, Kenneth N.; Parker, Gordon G.; Robinett, Rush D.
  • 16th International Symposium on Automation and Robotics in Construction, Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC) https://doi.org/10.22260/ISARC1999/0064
conference September 1999
Experimental verification of a command shaping boom crane control system conference January 1999
Command shaping control of an operator-in-the-loop boom crane
  • Lewis, D.; Parker, G. G.; Driessen, B.
  • Proceedings of the 1998 American Control Conference (ACC), Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) https://doi.org/10.1109/ACC.1998.688328
conference January 1998

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Related Subjects

/700/212/701/
amplitudes
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automated
boom
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command
commands
contributors
control
crane
cranes
due
elevation
excitation
filter
frequency
hoisting
input
input signal
maneuvers
method
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operator
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pendulation
provides
radial
real-time
reduce
residual
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rotary
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