skip to main content
DOE Patents title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Sway control method and system for rotary cranes

Abstract

Methods and apparatuses 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.

Inventors:
 [1];  [2];  [3];  [3];  [3]
  1. Tijeras, NM
  2. Houghton, MI
  3. Albuquerque, NM
Issue Date:
Research Org.:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
OSTI Identifier:
872308
Patent Number(s):
5908122
Assignee:
Sandia Corporation (Albuquerque, NM)
Patent Classifications (CPCs):
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
sway; control; method; rotary; cranes; methods; apparatuses; reducing; oscillatory; motion; crane; payloads; operator-commanded; computer-controlled; maneuvers; input-shaping; filter; receives; input; signals; multiple; operator; devices; converts; output; readable; controller; dampen; payload; tangential; radial; associated; rotation; jib; characterized; hub; trajectory; gamma; angular; acceleration; trolley; load-line; length; velocity; variables; angle; theta; phi; coupled; equations; governing; non-linear; configuration-dependent; embodiment; provided; filtering; undesired; frequencies; velocities; suppress; oscillation; commands; computer; generated; controlled; vibration; postulated; asymmetrical; shape; profiles; uniquely; determined; set; parameters; including; pulse; amplitude; duration; coast; time; pulses; dynamic; programming; approach; receives input; output signals; input signals; output signal; input signal; control method; computer generated; oscillatory motion; input device; desired frequencies; dynamic programming; filter receives; rotary crane; acceleration pulse; /212/901/

Citation Formats

Robinett, Rush D, Parker, Gordon G, Feddema, John T, Dohrmann, Clark R, and Petterson, Ben J. Sway control method and system for rotary cranes. United States: N. p., 1999. Web.
Robinett, Rush D, Parker, Gordon G, Feddema, John T, Dohrmann, Clark R, & Petterson, Ben J. Sway control method and system for rotary cranes. United States.
Robinett, Rush D, Parker, Gordon G, Feddema, John T, Dohrmann, Clark R, and Petterson, Ben J. Fri . "Sway control method and system for rotary cranes". United States. https://www.osti.gov/servlets/purl/872308.
@article{osti_872308,
title = {Sway control method and system for rotary cranes},
author = {Robinett, Rush D and Parker, Gordon G and Feddema, John T and Dohrmann, Clark R and Petterson, Ben J},
abstractNote = {Methods and apparatuses 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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {1}
}

Patent:

Save / Share:

Works referenced in this record:

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


Modeling and control of a rotary crane for swing-free transport of payloads
conference, January 1992


Operator in-the-loop control of rotary cranes
conference, May 1996


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


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


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


Model-based damping of coupled horizontal and vertical oscillations in a flexible rod
journal, January 1991


Vibration suppression of fixed-time jib crane maneuvers
conference, May 1995


Digital shaping filters for reducing machine vibration
journal, April 1992


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


Electromechanical modelling of overhead cranes
journal, December 1992


Modeling and Control of a Rotary Crane
journal, September 1985