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

Abstract

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.

Inventors:
 [1];  [2];  [2];  [3]
  1. (Tijeras, NM)
  2. (Albuquerque, NM)
  3. (Houghton, MI)
Publication Date:
Research Org.:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA
OSTI Identifier:
874951
Patent Number(s):
US 6496765
Assignee:
Sandia Corporation (Albuquerque, NM) SNL
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
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; /701/212/340/

Citation Formats

Robinett, III, Rush D., Groom, Kenneth N., Feddema, John T., and Parker, Gordon G. Control system and method for payload control in mobile platform cranes. United States: N. p., 2002. Web.
Robinett, III, Rush D., Groom, Kenneth N., Feddema, John T., & Parker, Gordon G. Control system and method for payload control in mobile platform cranes. United States.
Robinett, III, Rush D., Groom, Kenneth N., Feddema, John T., and Parker, Gordon G. Tue . "Control system and method for payload control in mobile platform cranes". United States. doi:. https://www.osti.gov/servlets/purl/874951.
@article{osti_874951,
title = {Control system and method for payload control in mobile platform cranes},
author = {Robinett, III, Rush D. and Groom, Kenneth N. and Feddema, John T. and Parker, Gordon G.},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Jan 01 00:00:00 EST 2002},
month = {Tue Jan 01 00:00:00 EST 2002}
}

Patent:

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