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 = {Fri Jan 01 00:00:00 EST 1999},
month = {Fri Jan 01 00:00:00 EST 1999}
}
Save to My Library
You must Sign In or Create an Account in order to save documents to your library.
Works referenced in this record:
Time optimal control of overhead cranes with hoisting of the load
journal, July 1987
- Auernig, J. W.; Troger, H.
- Automatica, Vol. 23, Issue 4
Modeling and control of a rotary crane for swing-free transport of payloads
conference, January 1992
- Souissi, R.; Koivo, A. J.
- [1992] The First IEEE Conference on Control Applications, [Proceedings 1992] The First IEEE Conference on Control Applications
Operator in-the-loop control of rotary cranes
conference, May 1996
- Parker, Gordon G.; Robinett III, Rush D.; Driessen, Brian J.
- 1996 Symposium on Smart Structures and Materials, SPIE Proceedings
Nonlinear Modeling and Control of Overhead Crane Load Sway
journal, September 1988
- Moustafa, Kamal A. F.; Ebeid, A. M.
- Journal of Dynamic Systems, Measurement, and Control, Vol. 110, Issue 3
Analysis of multi-link flexible manipulators via asymptotic expansions
conference, January 1989
- Khorrami, F.
- Proceedings of the 28th IEEE Conference on Decision and Control
A simplified approach of crane control via a generalized state-space model
conference, January 1991
- Fliess, M.; Levine, J.; Rouchon, P.
- [1991] Proceedings of the 30th IEEE Conference on Decision and Control
Control and system identification of a two-link flexible manipulator
conference, January 1990
- Yurkovich, S.; Tzes, A. P.; Lee, I.
- Proceedings., IEEE International Conference on Robotics and Automation
Digital Filter Control of Remotely Operated Flexible Robotic Structures
conference, June 1993
- Feddema, J. T.
- 1993 American Control Conference
Model-based damping of coupled horizontal and vertical oscillations in a flexible rod
journal, January 1991
- Petterson, B. J.; Robinett, R. D.
- Journal of Intelligent & Robotic Systems, Vol. 4, Issue 3
Vibration suppression of fixed-time jib crane maneuvers
conference, May 1995
- Parker, Gordon G.; Petterson, Ben; Dohrmann, Clark R.
- Smart Structures & Materials '95, SPIE Proceedings
Digital shaping filters for reducing machine vibration
journal, April 1992
- Murphy, B. R.; Watanabe, I.
- IEEE Transactions on Robotics and Automation, Vol. 8, Issue 2
Inverse Dynamics and Kinematics of Multi- Link Elastic Robots: An Iterative Frequency Domain Approach
journal, December 1989
- Bayo, Eduardo; Papadopoulos, Philip; Stubbe, James
- The International Journal of Robotics Research, Vol. 8, Issue 6
Electromechanical modelling of overhead cranes
journal, December 1992
- Ebeid, A. M.; Moustafa, Kamal A. F.; Emara-Shabaik, Hosam E.
- International Journal of Systems Science, Vol. 23, Issue 12
Modeling and Control of a Rotary Crane
journal, September 1985
- Sakawa, Y.; Nakazumi, A.
- Journal of Dynamic Systems, Measurement, and Control, Vol. 107, Issue 3