Skip to main content
OSTI.GOVU.S. Department of Energy Office of Scientific and Technical Information
U.S. Department of Energy
Office of Scientific and Technical Information
 

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
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)

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

Similar Records

Pendulation control system and method for rotary boom cranes
Patent · Mon Dec 31 23:00:00 EST 2001 · OSTI ID:874693
Sway control method and system for rotary cranes
Patent · Thu Dec 31 23:00:00 EST 1998 · OSTI ID:872308
Sway control method and system for rotary cranes
Patent · Tue Jun 01 00:00:00 EDT 1999 · OSTI ID:6420220

Related Subjects

/701/212/340/
achieve
amount
apply
command
commands
compensator
configuration
control
controller
coordinate
crane
cranes
damper
defined
filter
frame
frequency
generate
inertial
maintain
method
mobile
motion
payload
pendulation
pendulation-free
platform
provides
reduce
residual
responsive
sensed
shaping
substantially