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:
-
- Tijeras, NM
- Houghton, MI
- 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
B - PERFORMING OPERATIONS B66 - HOISTING B66C - CRANES
- 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}
}
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