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Title: Sway control method and system for rotary cranes

Abstract

Methods and apparatuses are disclosed for reducing the oscillatory motion of rotary crane payloads during operator-commanded or computer-controlled maneuvers. An Input-shaping filter receives input signals from multiple operator input devices and converts them into output signals readable by the crane controller to dampen the payload tangential and radial sway associated with rotation of the jib. The input signals are characterized by a hub rotation trajectory [gamma](t), which includes a jib angular acceleration [gamma], a trolley acceleration x, and a load-line length velocity L. The system state variables are characterized by a tangential rotation angle [theta](t) and a radial rotation angle [phi](t) of the load-line. The coupled equations of motion governing the filter are non-linear and configuration-dependent. In one embodiment, a filter is provided between the operator and the crane for filtering undesired frequencies from the angular [gamma] and trolley x velocities to suppress payload oscillation. In another embodiment, crane commands are computer generated and controlled to suppress vibration of the payload using a postulated asymmetrical shape for the acceleration profiles of the jib, which profiles are uniquely determined by a set of parameters (including the acceleration pulse amplitude and the duration and coast time between pulses), or a dynamic programmingmore » approach. 25 figs.« less

Inventors:
; ; ; ;
Issue Date:
Sponsoring Org.:
USDOE; USDOE, Washington, DC (United States)
OSTI Identifier:
6420220
Patent Number(s):
5908122 A
Application Number:
PPN: US 8-808821
Assignee:
Sandia Corp., Albuquerque, NM (United States) SNL; EDB-99-080774
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Patent
Resource Relation:
Patent File Date: 28 Feb 1997
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; COMPUTERIZED CONTROL SYSTEMS; CRANES; DYNAMIC PROGRAMMING; EQUATIONS OF MOTION; MECHANICAL VIBRATIONS; MOTION; SIGNAL CONDITIONERS; CONTROL SYSTEMS; DIFFERENTIAL EQUATIONS; ELECTRONIC CIRCUITS; EQUATIONS; EQUIPMENT; MATERIALS HANDLING EQUIPMENT; ON-LINE CONTROL SYSTEMS; ON-LINE SYSTEMS; PARTIAL DIFFERENTIAL EQUATIONS; PROGRAMMING; PULSE CIRCUITS; 420200* - Engineering- Facilities, Equipment, & Techniques

Citation Formats

Robinett, R.D., Parker, G.G., Feddema, J.T., Dohrmann, C.R., and Petterson, B.J. Sway control method and system for rotary cranes. United States: N. p., 1999. Web.
Robinett, R.D., Parker, G.G., Feddema, J.T., Dohrmann, C.R., & Petterson, B.J. Sway control method and system for rotary cranes. United States.
Robinett, R.D., Parker, G.G., Feddema, J.T., Dohrmann, C.R., and Petterson, B.J. Tue . "Sway control method and system for rotary cranes". United States.
@article{osti_6420220,
title = {Sway control method and system for rotary cranes},
author = {Robinett, R.D. and Parker, G.G. and Feddema, J.T. and Dohrmann, C.R. and Petterson, B.J.},
abstractNote = {Methods and apparatuses are disclosed for reducing the oscillatory motion of rotary crane payloads during operator-commanded or computer-controlled maneuvers. An Input-shaping filter receives input signals from multiple operator input devices and converts them into output signals readable by the crane controller to dampen the payload tangential and radial sway associated with rotation of the jib. The input signals are characterized by a hub rotation trajectory [gamma](t), which includes a jib angular acceleration [gamma], a trolley acceleration x, and a load-line length velocity L. The system state variables are characterized by a tangential rotation angle [theta](t) and a radial rotation angle [phi](t) of the load-line. The coupled equations of motion governing the filter are non-linear and configuration-dependent. In one embodiment, a filter is provided between the operator and the crane for filtering undesired frequencies from the angular [gamma] and trolley x velocities to suppress payload oscillation. In another embodiment, crane commands are computer generated and controlled to suppress vibration of the payload using a postulated asymmetrical shape for the acceleration profiles of the jib, which profiles are uniquely determined by a set of parameters (including the acceleration pulse amplitude and the duration and coast time between pulses), or a dynamic programming approach. 25 figs.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {6}
}