Pendulation control system and method for rotary boom cranes

Groom, Kenneth N; Feddema, John T; Parker, Gordon G

Advanced Search OptionsAdvanced Search queries use a traditional Term Search. For more info, see our FAQ.

All Fields:

Patent Title:

Abstract:

Assignee:

Inventor(s):

Patent Number:

Patent Classification (CPC):

All Classifications
A - human necessities
A01 - agriculture
A21 - baking
A22 - butchering
A23 - foods or foodstuffs
A24 - tobacco
A41 - wearing apparel
A42 - headwear
A43 - footwear
A44 - haberdashery
A45 - hand or travelling articles
A46 - brushware
A47 - furniture
A61 - medical or veterinary science
A62 - life-saving
A63 - sports
A99 - subject matter not otherwise provided for in this section
B - performing operations
B01 - physical or chemical processes or apparatus in general
B02 - crushing, pulverising, or disintegrating
B03 - separation of solid materials using liquids or using pneumatic tables or jigs
B04 - centrifugal apparatus or machines for carrying-out physical or chemical processes
B05 - spraying or atomising in general
B06 - generating or transmitting mechanical vibrations in general
B07 - separating solids from solids
B08 - cleaning
B09 - disposal of solid waste
B21 - mechanical metal-working without essentially removing material
B22 - casting
B23 - machine tools
B24 - grinding
B25 - hand tools
B26 - hand cutting tools
B27 - working or preserving wood or similar material
B28 - working cement, clay, or stone
B29 - working of plastics
B30 - presses
B31 - making articles of paper, cardboard or material worked in a manner analogous to paper
B32 - layered products
B33 - additive manufacturing technology
B41 - printing
B42 - bookbinding
B43 - writing or drawing implements
B44 - decorative arts
B60 - vehicles in general
B61 - railways
B62 - land vehicles for travelling otherwise than on rails
B63 - ships or other waterborne vessels
B64 - aircraft
B65 - conveying
B66 - hoisting
B67 - opening, closing {or cleaning} bottles, jars or similar containers
B68 - saddlery
B81 - microstructural technology
B82 - nanotechnology
B99 - subject matter not otherwise provided for in this section
C - chemistry
C01 - inorganic chemistry
C02 - treatment of water, waste water, sewage, or sludge
C03 - glass
C04 - cements
C05 - fertilisers
C06 - explosives
C07 - organic chemistry
C08 - organic macromolecular compounds
C09 - dyes
C10 - petroleum, gas or coke industries
C11 - animal or vegetable oils, fats, fatty substances or waxes
C12 - biochemistry
C13 - sugar industry
C14 - skins
C21 - metallurgy of iron
C22 - metallurgy
C23 - coating metallic material
C25 - electrolytic or electrophoretic processes
C30 - crystal growth
C40 - combinatorial technology
C99 - subject matter not otherwise provided for in this section
D - textiles
D01 - natural or man-made threads or fibres
D02 - yarns
D03 - weaving
D04 - braiding
D05 - sewing
D06 - treatment of textiles or the like
D07 - ropes
D10 - indexing scheme associated with sublasses of section d, relating to textiles
D21 - paper-making
D99 - subject matter not otherwise provided for in this section
E - fixed constructions
E01 - construction of roads, railways, or bridges
E02 - hydraulic engineering
E03 - water supply
E04 - building
E05 - locks
E06 - doors, windows, shutters, or roller blinds in general
E21 - earth drilling
E99 - subject matter not otherwise provided for in this section
F - mechanical engineering
F01 - machines or engines in general
F02 - combustion engines
F03 - machines or engines for liquids
F04 - positive - displacement machines for liquids
F05 - indexing schemes relating to engines or pumps in various subclasses of classes f01-f04
F15 - fluid-pressure actuators
F16 - engineering elements and units
F17 - storing or distributing gases or liquids
F21 - lighting
F22 - steam generation
F23 - combustion apparatus
F24 - heating
F25 - refrigeration or cooling
F26 - drying
F27 - furnaces
F28 - heat exchange in general
F41 - weapons
F42 - ammunition
F99 - subject matter not otherwise provided for in this section
G - physics
G01 - measuring
G02 - optics
G03 - photography
G04 - horology
G05 - controlling
G06 - computing
G07 - checking-devices
G08 - signalling
G09 - education
G10 - musical instruments
G11 - information storage
G12 - instrument details
G16 - information and communication technology [ict] specially adapted for specific application fields
G21 - nuclear physics
G99 - subject matter not otherwise provided for in this section
H - electricity
H01 - basic electric elements
H02 - generation
H03 - basic electronic circuitry
H04 - electric communication technique
H05 - electric techniques not otherwise provided for
H99 - subject matter not otherwise provided for in this section
Y - new / cross sectional technologies
Y02 - technologies or applications for mitigation or adaptation against climate change
Y04 - information or communication technologies having an impact on other technology areas
Y10 - technical subjects covered by former uspc

More Options ...

Title: Pendulation control system and method for rotary boom cranes

Abstract

A command shaping control system and method for rotary boom cranes provides a way to reduce payload pendulation caused by real-time input signals, from either operator command or automated crane maneuvers. The method can take input commands and can apply a command shaping filter to reduce contributors to payload pendulation due to rotation, elevation, and hoisting movements in order to control crane response and reduce tangential and radial payload pendulation. A filter can be applied to a pendulation excitation frequency to reduce residual radial pendulation and tangential pendulation amplitudes.

Inventors:

Robinett, III, Rush D. ^[1]; Groom, Kenneth N ^[2]; Feddema, John T ^[2]; Parker, Gordon G ^[3]

(Tijeras, NM)
Albuquerque, NM
Houghton, MI

Issue Date:: 2002-01-01

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

OSTI Identifier:: 874693

Patent Number(s):: 6442439

Assignee:: Sandia Corporation (Albuquerque, NM)

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

Show more

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

Show less

DOE Contract Number:: AC04-94AL85000

Resource Type:: Patent

Country of Publication:: United States

Language:: English

Subject:: pendulation; control; method; rotary; boom; cranes; command; shaping; provides; reduce; payload; caused; real-time; input; signals; operator; automated; crane; maneuvers; commands; apply; filter; contributors; due; rotation; elevation; hoisting; movements; response; tangential; radial; applied; excitation; frequency; residual; amplitudes; input signal; /700/212/701/

Citation Formats


                    Robinett, III, Rush D., Groom, Kenneth N, Feddema, John T, and Parker, Gordon G. Pendulation control system and method for rotary boom cranes.  United States: N. p., 2002. 
        Web.

Copy to clipboard


                    Robinett, III, Rush D., Groom, Kenneth N, Feddema, John T, & Parker, Gordon G. Pendulation control system and method for rotary boom cranes.  United States.

Copy to clipboard


                    Robinett, III, Rush D., Groom, Kenneth N, Feddema, John T, and Parker, Gordon G. Tue .  
        "Pendulation control system and method for rotary boom cranes".  United States.  https://www.osti.gov/servlets/purl/874693.

Copy to clipboard


                    
@article{osti_874693,

  title        = {Pendulation control system and method for rotary boom cranes},

  author       = {Robinett, III, Rush D. and Groom, Kenneth N and Feddema, John T and Parker, Gordon G},

  abstractNote = {A command shaping control system and method for rotary boom cranes provides a way to reduce payload pendulation caused by real-time input signals, from either operator command or automated crane maneuvers. The method can take input commands and can apply a command shaping filter to reduce contributors to payload pendulation due to rotation, elevation, and hoisting movements in order to control crane response and reduce tangential and radial payload pendulation. A filter can be applied to a pendulation excitation frequency to reduce residual radial pendulation and tangential pendulation amplitudes.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {2002},

  month        = {1}

}

Copy to clipboard

Patent:

Save / Share:

Export Metadata

Save to My Library

Works referenced in this record:

Swing-Free Cranes via Input Shaping of Operator Commands
conference, September 1999

Groom, Kenneth N.; Parker, Gordon G.; Robinett, Rush D.
16th International Symposium on Automation and Robotics in Construction, Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)
https://doi.org/10.22260/ISARC1999/0064

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
https://doi.org/10.1117/12.239148

Command shaping control of an operator-in-the-loop boom crane
conference, January 1998

Lewis, D.; Parker, G. G.; Driessen, B.
Proceedings of the 1998 American Control Conference (ACC), Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)
https://doi.org/10.1109/ACC.1998.688328

Experimental verification of a command shaping boom crane control system
conference, January 1999

Parker, G. G.; Groom, K.; Hurtado, J. E.
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)
https://doi.org/10.1109/ACC.1999.782745

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
https://doi.org/10.1115/1.3140721

Similar Records in DOE Patents and OSTI.GOV collections:

Sway control method and system for rotary cranes

Patent Robinett, Rush D [Tijeras, NM]; Parker, Gordon G [Houghton, MI]; Feddema, John T [Albuquerque, NM]; ...

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) ofmore » « less
Full Text Available
Control system and method for payload control in mobile platform cranes

Patent Robinett, III, Rush D. (Tijeras, NM); Groom, Kenneth N [Albuquerque, NM]; Feddema, John T [Albuquerque, NM]; ...

A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from themore » desired payload motion. « less
Full Text Available
Operator control systems and methods for swing-free gantry-style cranes

Patent Feddema, John T [Albuquerque, NM]; Petterson, Ben J [Albuquerque, NM]; Robinett, III, Rush D. (Albuquerque, NM)

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 formore » « less
Full Text Available
Apparatus and method for controlling the rotary airlocks in a coal processing system by reversing the motor current rotating the air lock

Patent Groombridge, Clifton E [Hardin, MT]

An improvement to a coal processing system where hard materials found in the coal may cause jamming of either inflow or outflow rotary airlocks, each driven by a reversible motor. The instantaneous current used by the motor is continually monitored and compared to a predetermined value. If an overcurrent condition occurs, indicating a jamming of the airlock, a controller means starts a "soft" reverse rotation of the motor thereby clearing the jamming. Three patterns of the motor reversal are provided.
Full Text Available
Systems and methods that use harmonic drives for converting reciprocating axial motion to continuous rotary motion, helical drives for converting reciprocating rotary motion to reciprocating axial motion and combinations thereof for converting reciprocating rotary motion to continuous rotary motion

Patent Raymond, David W.; Radigan, William T.

A harmonic drive assembly and fluid-powered linear motors with both axial pistons are rotary piston arrangements incorporating the harmonic drive assembly are disclosed. The motors may be used in downhole drilling applications, but the drive assembly and/or motors may be used in other applications. The assembly, motors and methods use advanced harmonic drives, advanced helical drives, and combinations thereof with 1) motors with axial pistons and reciprocating linear rings to convert reciprocative axial motion to continuous rotary motion, and 2) motors with rotary pistons and reciprocating linear rings to rectify reciprocative rotary motion to continual rotary motion to improve performancemore » over prior configurations. « less
Full Text Available

Similar Records

Title: Pendulation control system and method for rotary boom cranes

Abstract

Citation Formats

Swing-Free Cranes via Input Shaping of Operator Commands conference, September 1999

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

Command shaping control of an operator-in-the-loop boom crane conference, January 1998

Experimental verification of a command shaping boom crane control system conference, January 1999

Modeling and Control of a Rotary Crane journal, September 1985

Swing-Free Cranes via Input Shaping of Operator Commands
conference, September 1999

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

Command shaping control of an operator-in-the-loop boom crane
conference, January 1998

Experimental verification of a command shaping boom crane control system
conference, January 1999

Modeling and Control of a Rotary Crane
journal, September 1985