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

Feddema, John T; Petterson, Ben J

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

Abstract

A system and method for eliminating swing motions in gantry-style cranes while subject to operator control is presented. The present invention comprises an infinite impulse response ("IIR") filter and a proportional-integral ("PI") feedback controller (50). The IIR filter receives input signals (46) (commanded velocity or acceleration) from an operator input device (45) and transforms them into output signals (47) 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 (25). 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 (27). 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.

Inventors:

Feddema, John T ^[1]; Petterson, Ben J ^[1]; Robinett, III, Rush D. ^[2]

Albuquerque, NM
(Albuquerque, NM)

Issue Date:: 1998-01-01

Research Org.:: Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)

OSTI Identifier:: 871734

Patent Number(s):: 5785191

Assignee:: Sandia Corporation (Albuquerque, NM)

Patent Classifications (CPCs):: B - PERFORMING OPERATIONS B66 - HOISTING B66C - CRANES

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B - PERFORMING OPERATIONS B66 - HOISTING B66C - CRANES
B66C13/063 - {electrical}

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DOE Contract Number:: AC04-94AL85000

Resource Type:: Patent

Country of Publication:: United States

Language:: English

Subject:: operator; control; systems; methods; swing-free; gantry-style; cranes; method; eliminating; swing; motions; subject; comprises; infinite; impulse; response; iir; filter; proportional-integral; feedback; controller; 50; receives; input; signals; 46; commanded; velocity; acceleration; device; 45; transforms; output; 47; fashion; resulting; motion; free; end-point; swinging; prevented; parameters; updated; time; measurements; hoist; cable; length; encoder; 25; compensates; modeling; errors; external; disturbances; wind; perturbations; caused; collision; operates; angle; provided; sensor; 27; adjusts; deceleration; eliminate; oscillations; especially; feature; variable-length; multiple; cables; attached; suspended; payload; receives input; control systems; output signals; input signals; output signal; input signal; feedback control; operator control; input device; gantry-style cranes; filter receives; /212/

Citation Formats


                    Feddema, John T, Petterson, Ben J, and Robinett, III, Rush D. Operator control systems and methods for swing-free gantry-style cranes.  United States: N. p., 1998. 
        Web.

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                    Feddema, John T, Petterson, Ben J, & Robinett, III, Rush D. Operator control systems and methods for swing-free gantry-style cranes.  United States.

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                    Feddema, John T, Petterson, Ben J, and Robinett, III, Rush D. Thu .  
        "Operator control systems and methods for swing-free gantry-style cranes".  United States.  https://www.osti.gov/servlets/purl/871734.

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@article{osti_871734,

  title        = {Operator control systems and methods for swing-free gantry-style cranes},

  author       = {Feddema, John T and Petterson, Ben J and Robinett, III, Rush D.},

  abstractNote = {A system and method for eliminating swing motions in gantry-style cranes while subject to operator control is presented. The present invention comprises an infinite impulse response ("IIR") filter and a proportional-integral ("PI") feedback controller (50). The IIR filter receives input signals (46) (commanded velocity or acceleration) from an operator input device (45) and transforms them into output signals (47) 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 (25). 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 (27). 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.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {1998},

  month        = {1}

}

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Works referenced in this record:

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Murphy, B. R.; Watanabe, I.
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Title: Operator control systems and methods for swing-free gantry-style cranes

Abstract

Citation Formats

Digital shaping filters for reducing machine vibration journal, April 1992

Time optimal control of overhead cranes with hoisting of the load journal, July 1987

Nonlinear Modeling and Control of Overhead Crane Load Sway journal, September 1988

Inverse Dynamics and Kinematics of Multi- Link Elastic Robots: An Iterative Frequency Domain Approach journal, December 1989

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A simplified approach of crane control via a generalized state-space model conference, January 1991

Electromechanical modelling of overhead cranes journal, December 1992

Control and system identification of a two-link flexible manipulator conference, January 1990

Digital shaping filters for reducing machine vibration
journal, April 1992

Time optimal control of overhead cranes with hoisting of the load
journal, July 1987

Nonlinear Modeling and Control of Overhead Crane Load Sway
journal, September 1988

Inverse Dynamics and Kinematics of Multi- Link Elastic Robots: An Iterative Frequency Domain Approach
journal, December 1989

Analysis of multi-link flexible manipulators via asymptotic expansions
conference, January 1989

A simplified approach of crane control via a generalized state-space model
conference, January 1991

Electromechanical modelling of overhead cranes
journal, December 1992

Control and system identification of a two-link flexible manipulator
conference, January 1990