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Title: Control system and method for payload control in mobile platform cranes

Patent ·
OSTI ID:874951
 [1];  [1];  [2]
  1. Albuquerque, NM
  2. Houghton, MI
+ Show Author Affiliations

A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from the desired payload motion.

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 6496765
OSTI ID:
874951
Country of Publication:
United States
Language:
English

References (4)

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
Operator in-the-loop control of rotary cranes conference May 1996
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
Experimental verification of a command shaping boom crane control system conference January 1999

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Related Subjects

control
method
payload
mobile
platform
cranes
crane
provides
generate
commands
responsive
motion
achieve
substantially
pendulation-free
apply
compensator
maintain
defined
configuration
inertial
coordinate
frame
pendulation
damper
controller
reduce
amount
sensed
command
shaping
filter
residual
frequency
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