Method for inching a crane without load swing

Traversing hoists – Having means to prevent or dampen load oscillations – Antisway

Patent

Rate now

  [ 0.00 ] – not rated yet Voters 0   Comments 0

Details

212270, B66C 1900

Patent

active

060504293

ABSTRACT:
A method for moving a carriage of a crane a short distance while simultaneously damping the oscillation of its load. The method includes: determining the period of oscillation T of the load; moving the carriage a first displacement from an initial position to a desired final position; moving said carriage a second displacement from the desired final position back to said initial position, a time T/6 after said first displacement; and repeating the first displacement to provide a third displacement from the initial position back to said desired final position, a time T/6 after said second displacement; while causing load oscillations to be damped.

REFERENCES:
patent: 2801351 (1957-04-01), Calvert et al.
patent: 3010035 (1961-11-01), Calvert et al.
patent: 3517830 (1970-06-01), Virkkala
patent: 3921818 (1975-11-01), Yamagishi
patent: 4512711 (1985-04-01), Ling et al.
patent: 4603783 (1986-08-01), Tax et al.
patent: 4717029 (1988-01-01), Yasunobu et al.
patent: 4756432 (1988-07-01), Kawashima et al.
patent: 4916635 (1990-04-01), Singer et al.
patent: 4945294 (1990-07-01), Anderson, Jr.
patent: 4997095 (1991-03-01), Jones et al.
patent: 5127533 (1992-07-01), Virkkunen
patent: 5219420 (1993-06-01), Kiiski et al.
patent: 5296791 (1994-03-01), Hipp
patent: 5373460 (1994-12-01), Marks, II
patent: 5490601 (1996-02-01), Heissat et al.
patent: 5526946 (1996-06-01), Overton
patent: 5529193 (1996-06-01), Hytonen
patent: 5610848 (1997-03-01), Fowell
patent: 5638267 (1997-06-01), Singhose et al.
patent: 5819963 (1998-10-01), Habisohn
patent: 5897006 (1999-04-01), Habisohn
Butler et al., "Model Reference Adaptive Control of Gantry Crane Scale Model", IEEE Jan. 1991, pp. 57-62.
Cook, Gerald "Control of Flexible Structures Via Posicast", Dept. of Electrical & Computer Engineering, George Mason University, pp. 31-35 (prior art).
Cook, Gerald "An Application of Half-Cycle Posicast" IEEE Transactions on Automatic Control, Jul. 1966, pp. 556-559.
Cook, Gerald "Posicast Versus Conventional Types of Compensation in a Control System", B.S., Virginia Polytechnic Institute, 1961, 51 pages.
Crain et al., "Evaluation of Input Shaping on Configuration Dependent Systems", vol. 1, ASME Jul. 1996, pp. 315-318.
Dodds et al., "A signed switching time bang-bang attitude control law for fine pointing of flexible spacecraft", Int. J. Control, 1984, vol. 40, No. 4, pp. 795-811.
Dodds et al., "A Dynamics Parameter Invariant Attitude Control System for Flexible Spacecraft", International Conference of Dynamics of Flexible Structures in Space, May 15-18, 1990, pp. 157-181.
Erickson, Bert K., "Input Attenuation Functions Improve Servomechanism Performance", IEEE Transactions on Inductrial Electronics and Control Instrumentation, vol. IECI-18, No. 4, Nov. 1971, pp. 144-156.
Fairfield, R. L., "Designing a Deadbeat Compensating Network", Control Engineering, Aug. 1966, pp. 75-77.
Ford et al., "The Application of Short-Time Memory Devices to Compensator Design", AIEE Winter General Meeting, Jan. 18-22, 1954, pp. 88-93.
Gimpel, et al., "Signal Component Control", AIEE Summer General Meeting Jun. 23-27, 1952, pp. 339-343.
Gorbatenko, George G., "Posicast Control by Delayed Gain", Control Engineering, Feb. 1965, 4 pages.
Horng et al., "Digital Posicast Technique to Second Order Control Systems", Journal of the Chinese Society of Mechanical Engineers, vol. 6, No. 2, pp. 103-106, 1985.
Hyde et al., "Contact Transition Control: An Experimental Study", 1993 IEEE, pp. 363-368.
Hyde et al., "Inhibiting Multiple Mode Vibration in Controlled Flexible Systems", Proceedings of the 1991 American Control Conference, pp. 2449-2454.
Hyde et al., "Controlling Contact Transition", 1994 IEEE, Feb. 1994, pp. 25-30.
Jones et al., "Control Input Shaping for Coordinate Measuring Machines", American Control Conference 1994, pp. 2899-2903.
Jones et al., "Swing Damped Movement of Suspended Objects", Sandia Report, Sep. 1990, pp. i-ii and 1-34.
Kallmann, Heinz E., "Transversal Filters", Proceedings of the I.R.E. Jul. 1940, pp. 302-310.
Kreisselmeier et al., "Application of Vector Performance Optimization to a Robust Control Loop Design for a Fighter Aircraft", 1980, pp. 1-69.
Magee et al., "The Application of Input Shaping to A System With Varying Parameters", Japan/USA Symposium on Flexible Automation--vol. 1, ASME 1992, pp. 519-526.
Magee et al., "Eliminating Multiple Modes of Vibration in a Flexible Manipulator", 1993 IEEE, pp. 474-479.
Magee et al., "Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration", Proceedings of the American Control Conference, Jun. 1994, pp. 2538-2542.
Magee et al., "Implementing Modified Command Filtering to Eliminate Multiple Modes of Vibration", Proceedings of the American Control Conference, Jun. 1993, pp. 2700-2704.
Mee, D. H., "A Feedback Implementation of Posicast Control Using Sampling Circuits", Proceedings of the IREE, Jan./Feb. 1974, pp. 11-15.
Ohnishi et al., "Automatic Control Of An Overhead Crane", IFAC Control Science and Technology, 1981, pp. 1885-1890.
Sakawa et al., "Optimal Control of Container Cranes", Automatics, vol. 18, No. 3, pp. 257-266, 1982.
Sato et al., "Modelling and control of a flexible rotary crane", Int. J. Control, 1988, vol. 48, No. 5, pp. 2085-2105.
Singh et al., "Robust Time-Optimal Control: Frequency Domain Approach", Journal of Guidance, Control, and Dynamics, vol. 17, No. 2, Mar.-Apr. 1994, pp. 346-353.
Singhose et al., "Input Shaping for Vibration Reduction With Specified Insensitivity to Modeling Errors", Japan/USA Symposium on Flexible Automation, vol. 1, ASME Jul. 1996, pp. 307-313.
Singhose et al., "Extra-Insensitive Input Shapers for Controlling Flexible Spacecraft", Journal of Guidance, Control, and Dynamics, vol. 19, No. 2, Mar.-Apr. 1996, pp. 385-391.
Singhose et al., "Effects of Input Shaping on Two-Dimensional Trajectory Following", IEEE Transactions on Robotics and Automation, vol. 12, No. 6, Dec. 1996, pp. 881-887.
Singhose et al., "Input Shapers for Improving the Throughput of Torque-Limited Systems", 1994 IEEE, pp. 1517-1522.
Singhose et al., "Design and Implementation of Time-Optimal Negative Input Shapers", DSC--vol. 55-1, Dynamic Systems and Control: vol. 1, ASME 1994, pp. 151-157.
Smith, Otto J. M., "Posicast Control of Damped Oscillatory Systems", Proceedings of the IRE, Jun. 1957, pp. 1249-1255.
Smith, Otto J. M., "Feedback Control Systems", McGraw-Hill Book Company, Inc., 1958, pp. 329-345.
So et al., "A Modified Posicast Method of Control With Applications to Higher-Order Systems", Nov. 1960, pp. 320-326.
Starr, G. P., "Swing-Free Transport of Suspended Objects With a Path-Controlled Robot Manipulator", Journal of Dynamics Systems, Measurement and Control, Technical Briefs, 1985, 5 pages.
Sze et al., "Short-Time Memory Devices in Closed-Loop Systems--Steady-State Response", AIEE Fall General Meeting, Oct. 3-7, 1955, pp. 340-344.
Tuttle et al., "A Zero-placement Technique for Designing Shaped Inputs to Suppress Multiple-mode Vibration", Proceedings of the American Control Conference, Jun. 1994, pp. 2533-2537.
Yu et al., "Fault Diagnosis for a Gas-Fired Furnace Using Bilinear Observer Method", Proceedings of the American Control Conference, Jun. 1995, pp. 1127-1131.
Convolve, Inc. document entitled "New Control Strategy Eliminates Residual Vibrations", Oct. 1994, 2 pages.
D. M. Aspinwall, "Acceleration Profiles for Minimizing Residual Response", Journal of Dynamic Systems, Measurement and Control, Mar. 1980, vol. 102/3, 4 pages.
Auernig et al., "Time Optimal Control of Overhead Cranes with Hoisting of the Load", Automatica, vol. 23, No. 4, pp. 437-447, 1987.
Farrenkopf, "Optimal Open-Loop Maneuver Profiles for Flexible Spacecraft", J. Guidance and Control, vol. 2, No. 6, Article No. 78-1280R, Nov.-Dec. 1979, pp. 491-498.
Narendra K. Gupta, "Frequency-Shaped Cost Functionals: Extension of Linear-Quadratic-Gaussian Design Methods", American Institute of Aeronautics and Astronautics, Inc., 1989, 7 pages.
Hyde et al., "Using Input Command Pre-Shaping to Suppress Multiple Mode Vibration", Proceedings of the 1991 IEEE International Confere

LandOfFree

Say what you really think

Search LandOfFree.com for the USA inventors and patents. Rate them and share your experience with other people.

Rating

Method for inching a crane without load swing does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Method for inching a crane without load swing, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method for inching a crane without load swing will most certainly appreciate the feedback.

Rate now

     

Profile ID: LFUS-PAI-O-2329748

  Search
All data on this website is collected from public sources. Our data reflects the most accurate information available at the time of publication.