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:
-
- (Tijeras, NM)
- Albuquerque, NM
- 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}
}
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)
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
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)
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)