Traversing hoists – Having means to prevent or dampen load oscillations – Antisway
Patent
1997-02-28
1999-06-01
Brahan, Thomas J.
Traversing hoists
Having means to prevent or dampen load oscillations
Antisway
212225, 901 17, B66C 1304
Patent
active
059081228
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.
REFERENCES:
patent: 3517830 (1970-06-01), Virkkala et al.
patent: 3921818 (1975-11-01), Yamagishi et al.
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: 4997095 (1991-03-01), Jones et al.
patent: 5127533 (1992-07-01), Virkkunen
patent: 5219420 (1993-06-01), Kiiski et al.
patent: 5443566 (1995-08-01), Rushmer et al.
patent: 5823369 (1998-10-01), Kuromoto
G. R. Elliott, R. J. Fogler, N. Ahmed and D. Hush, On a Second-Order Adaptive Infinite Impulse Response Filter, SAND83-2298C, Sandia National Laboratories, Albuquerque, NM (1983).
J. W. Auernig and H. Troger, Time Optimal Control of Overhead Cranes and Hoisting of the Load, Automatica, vol. 23, No. 4, pp. 437-447 (1987).
Kamal A. F. Moustafa and Am M. Ebeid, Nonlinear Modeling and Control of Overhead Crane and Load Sway, Journal of Dynamic Systems, Measurement, and Control, vol. 110, pp. 266-271 (1988).
N. C. Singer, Residual Vibration Reduction in Computer Controlled Machines, Technical Report AI-TR 1030, MIT Artificial Intelligence Laboratory, Cabridge, MA (Jan. 1989).
A. D. Christian, Design Implementation of a Flexible Robot, Technical Report AI-TR 1153, MIT Artificial Intelligence Laboratory, Cambridge, MA (Aug. 1989).
Eduardo Bayo, Philip Papadopoulos, James Stubbe, and Miguel Angel Serna, Inverse Dynamics and Kinematics of Multi-Link Elastic Robots: An Iterative Frequency Domain Approach, The International Journal of Robotics Research, vol. 8, No. 6, pp. 49-62 (Dec. 1989).
Farshad Khorrami, Analysis of Multi-link Flexible Manipulators Via Asymptotic Expansions, Proceedings of the 28.sup.th IEEE Conference on Decision and Control, Tampa, FL, pp. 2089-2094 (Dec. 1989).
Stephen Yurkovich, Anthony P. Tzes, Iewen Lee and Kenneth L. Hillsley, Control and System Identification of a Two-Link Flexible Manipulator, Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, OH, pp. 1626-1631 (May 13-19, 1990).
Brett R. Murphy and Ichiro Watanabe, Digital Shaping Filters for Reducing Machine Vibration, IEEE Transactions on Robotics and Automation, vol. 8, No. 2, pp. 285-289 (Apr. 1991).
John T. Feddema et al, Techniques for Controlling a Two-Link Flexible Arm, Proceedings of the Fourth topical Meeting on Robotics and Remote Systems, Albuquerque, NM (Feb. 24-28, 1991).
M. Fliess, J. Levine, and P. Rouchon, A Simplified Approach of Crane Control Via a Generalized State-Space Model, IEEE Proceedings of the 30.sup.th Conference on Decision and Control, Brighton, England, pp. 736-741 (1991).
A. M. Ebeid, Mamal A. F. Moustafa, and H. E. Emara-Shabaik, Electromechanical Modelling of Overhead Cranes, International J. Of Systems Science, vol. 23, No. 12, pp. 2155-2169 (1992).
H. T. Nguyen, State-Variable Feedback Controller for an Overhead Crane, Journal of Electrical and Electronics Engineering, Austrailia, vol. 14, No. 2, pp. 75-84 (Jun. 1994).
Sakawa and A. Nakazumi, "Modeling and Control of a Rotary Crane," Jour of Dynamic Systems, Measurement, and Control, vol. 107, pp. 200-206, 1985.
Vaha, S. Pieska and E. Timonen, "Robotization of an Offshore Container Crane," Robots: Coming of Age, Proceedings of the 19th ISIR International Symposium, pp. 637-648, 1988.
Souissi and A.J. Koivo, "Modeling and Control of a Rotary Crane for Swing-Free Transport of Payloads," The First IEEE Conference on Control Applications, Dayton, OH, pp. 782-787, 1992.
Parker, G.G., Petterson, B., Dohrmann, C.R. and Robinett, R.D., "Vibration Suppression of Fixed-Time Jib Crane Maneuvers," Proceedings of the SPIE Smart Structures and Materials Conference, pp. 131-140, 1995.
B.J. Petterson and R.D. Robinett, "Model-Based Damping of Coupled Horizontal and Vertical Oscillations in a Flexible Rod," Journal of Intelligent and Robotic Systems, vol. 4, pp. 285-299, 1991.
G. G. Parker, R. Eisler, and R. D. Robinett, Input Shaping for Vibration-Damped Slewing of a Flexible Beam Using a Heavy-Lift Hydraulic Robot, 1994 American Control Conference, Baltimore, Maryland (1994).
G. G. Parker, Rush D. Robinett, Brian J. Driessen, and Clark R. Dohrmann, "Operator in-the-loop of rotary cranes" Proceedings Reprint from the Smart Structures and Materials, pp. 364-372, 1966.
John T. Feddema, Digital Filter Control of Remotely Operated Flexible Robotic Structures, Proceedings of the American Control Conference, San Francisco, CA (Jun. 1993).
Dohrmann Clark R.
Feddema John T.
Parker Gordon G.
Petterson Ben J.
Robinett Rush D.
Abeyta Andrew
Brahan Thomas J.
Grafe V. Gerald
Sandia Corporation
LandOfFree
Sway control method and system for rotary cranes does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Sway control method and system for rotary cranes, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Sway control method and system for rotary cranes will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-949990