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Title: Control system and method for payload control in mobile platform cranes

Abstract

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 the desired payload motion.

Inventors:
 [1];  [2];  [2];  [3]
  1. (Tijeras, NM)
  2. Albuquerque, NM
  3. Houghton, MI
Issue Date:
Research Org.:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
OSTI Identifier:
874951
Patent Number(s):
6496765
Assignee:
Sandia Corporation (Albuquerque, NM)
Patent Classifications (CPCs):
B - PERFORMING OPERATIONS B66 - HOISTING B66C - CRANES
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
control; method; payload; mobile; platform; cranes; crane; provides; generate; commands; responsive; motion; achieve; substantially; pendulation-free; apply; compensator; maintain; defined; configuration; inertial; coordinate; frame; pendulation; damper; controller; reduce; amount; sensed; command; shaping; filter; residual; frequency; /701/212/340/

Citation Formats

Robinett, III, Rush D., Groom, Kenneth N, Feddema, John T, and Parker, Gordon G. Control system and method for payload control in mobile platform cranes. United States: N. p., 2002. Web.
Robinett, III, Rush D., Groom, Kenneth N, Feddema, John T, & Parker, Gordon G. Control system and method for payload control in mobile platform cranes. United States.
Robinett, III, Rush D., Groom, Kenneth N, Feddema, John T, and Parker, Gordon G. Tue . "Control system and method for payload control in mobile platform cranes". United States. https://www.osti.gov/servlets/purl/874951.
@article{osti_874951,
title = {Control system and method for payload control in mobile platform cranes},
author = {Robinett, III, Rush D. and Groom, Kenneth N and Feddema, John T and Parker, Gordon G},
abstractNote = {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 the desired payload motion.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2002},
month = {1}
}

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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


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