Swing-Free Cranes via Input Shaping of Operator Commands

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Description

This paper presents an open-loop control method for suppressing payload oscillation or swing caused by operator commanded maneuvers in rotary boom cranes and the method is experimentally verified on a one-sixteenth scale model of a Hagglunds shipboard crane. The crane configuration consists of a payload mass that swings like a spherical pendulum on the end of a lift-line which is attached to a boom capable of hub rotation (slewing) and elevation (luffing). Positioning of the payload is accomplished through the hub and boom angles and the load-line length. Since the configuration of the crane affects the excitation and response of ... continued below

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5 p.

Creation Information

Groom, Kenneth N.; Parker, Gordon G.; Robinett, Rush D. & Leban, Frank August 25, 1999.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 20 times . More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM, and Livermore, CA (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

This paper presents an open-loop control method for suppressing payload oscillation or swing caused by operator commanded maneuvers in rotary boom cranes and the method is experimentally verified on a one-sixteenth scale model of a Hagglunds shipboard crane. The crane configuration consists of a payload mass that swings like a spherical pendulum on the end of a lift-line which is attached to a boom capable of hub rotation (slewing) and elevation (luffing). Positioning of the payload is accomplished through the hub and boom angles and the load-line length. Since the configuration of the crane affects the excitation and response of the payload, the swing control scheme must account for the varying geometry of the system. Adaptive forward path command filters are employed to remove components of the command signal which induce payload swing.

Physical Description

5 p.

Notes

OSTI as DE00010340

Medium: P; Size: 5 pages

Source

  • 16th International Symposium on Automation and Robots in Construction, Madrid (ES), 09/22/1999--09/24/1999

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  • Report No.: SAND99-2185C
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 10340
  • Archival Resource Key: ark:/67531/metadc626684

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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  • August 25, 1999

Added to The UNT Digital Library

  • June 16, 2015, 7:43 a.m.

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  • April 11, 2017, 12:29 p.m.

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Groom, Kenneth N.; Parker, Gordon G.; Robinett, Rush D. & Leban, Frank. Swing-Free Cranes via Input Shaping of Operator Commands, article, August 25, 1999; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc626684/: accessed October 21, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.