Experimental verification of a command shaping boom crane control system

Author

Parker, Gordon G. ; Groom, Kenneth ; Hurtado, Johnny E. ; Feddema, John ; Robinett, Rush D. ; Leban, Frank

Author_Institution

Dept. of Mech. Eng. & Eng. Mech., Michigan Technol. Univ., Houghton, MI, USA

Volume

1

fYear

1999

fDate

1999

Firstpage

86

Abstract

Presents experimental results of a command shaping control method for suppressing payload swing caused by operator commanded manoeuvres, in rotary, ship-based, boom cranes. The crane configuration investigated, consists of a payload mass that swings on the end of a spherical pendulum of varying lift-line length (hoisting). The lift-line is attached to a boom capable of elevation (luffing) and rotation about a vertical axis (slewing). Positioning of the payload is accomplished through luff, slew and hoist commands issued in real-time by an operator. The command shaping strategy, consisting of a time-varying filter, reduces payload oscillation by 18 dB in experiments using the 1/16th scale Navy Crane Testbed at Sandia National Laboratories

Keywords

cranes; position control; time-varying filters; command shaping control method; hoisting; luffing; operator commanded manoeuvres; payload oscillation; payload swing; positioning; rotary ship-based boom cranes; rotation; slewing; spherical pendulum; time-varying filter; Containers; Control systems; Cranes; Foot; Intelligent sensors; Intelligent systems; Laboratories; Marine vehicles; Payloads; Shape control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.782745

Filename

782745