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Title: Operator control systems and methods for swing-free gantry-style cranes

Abstract

A system and method are disclosed for eliminating swing motions in gantry-style cranes while subject to operator control. The present invention comprises an infinite impulse response (IIR) filter and a proportional-integral (PI) feedback controller. The IIR filter receives input signals (commanded velocity or acceleration) from an operator input device and transforms them into output signals in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder. The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor. The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload. 10 figs.

Inventors:
; ;
Issue Date:
Research Org.:
Sandia Corporation
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
672489
Patent Number(s):
5,785,191
Application Number:
PAN: 8-651,166
Assignee:
Sandia Corp., Albuquerque, NM (United States) SNL; SCA: 420200; PA: EDB-98:120593; SN: 98002024810
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Patent
Resource Relation:
Other Information: PBD: 28 Jul 1998
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; CRANES; CONTROL EQUIPMENT; DESIGN; MOTION; MITIGATION; OSCILLATIONS; CABLES

Citation Formats

Feddema, J.T., Petterson, B.J., and Robinett, R.D. III. Operator control systems and methods for swing-free gantry-style cranes. United States: N. p., 1998. Web.
Feddema, J.T., Petterson, B.J., & Robinett, R.D. III. Operator control systems and methods for swing-free gantry-style cranes. United States.
Feddema, J.T., Petterson, B.J., and Robinett, R.D. III. Tue . "Operator control systems and methods for swing-free gantry-style cranes". United States.
@article{osti_672489,
title = {Operator control systems and methods for swing-free gantry-style cranes},
author = {Feddema, J.T. and Petterson, B.J. and Robinett, R.D. III},
abstractNote = {A system and method are disclosed for eliminating swing motions in gantry-style cranes while subject to operator control. The present invention comprises an infinite impulse response (IIR) filter and a proportional-integral (PI) feedback controller. The IIR filter receives input signals (commanded velocity or acceleration) from an operator input device and transforms them into output signals in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder. The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor. The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload. 10 figs.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1998},
month = {7}
}