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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:
 [1];  [1];  [1]
  1. (Albuquerque, NM)
Issue Date:
Research Org.:
SANDIA CORP
OSTI Identifier:
871734
Patent Number(s):
5785191
Assignee:
Sandia Corporation (Albuquerque, NM) SNL
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.
Feddema, John T., Petterson, Ben J., & Robinett, III, Rush D. Operator control systems and methods for swing-free gantry-style cranes. United States.
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.
@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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