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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];  [1];  [2]
  1. Albuquerque, NM
  2. Houghton, MI
Publication Date:
Research Org.:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
OSTI Identifier:
874951
Patent Number(s):
US 6496765
Assignee:
Sandia Corporation (Albuquerque, NM)
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. 2002. "Control system and method for payload control in mobile platform cranes". United States. 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 = {},
url = {https://www.osti.gov/biblio/874951}, journal = {},
number = ,
volume = ,
place = {United States},
year = {2002},
month = {1}
}

Works referenced in this record:

Swing-Free Cranes via Input Shaping of Operator Commands
conference, September 1999

  • 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

Operator in-the-loop control of rotary cranes
conference, May 1996


Command shaping control of an operator-in-the-loop boom crane
conference, January 1998

  • 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

Experimental verification of a command shaping boom crane control system
conference, January 1999