Operator in-the-loop control of rotary cranes

Gordon G. Parker; Rush D. Robinett III; Brian J. Driessen; Clark R. Dohrmann

doi:10.1117/12.239148

1 May 1996 Operator in-the-loop control of rotary cranes

Gordon G. Parker, Rush D. Robinett III, Brian J. Driessen, Clark R. Dohrmann

Proceedings Volume 2721, Smart Structures and Materials 1996: Industrial and Commercial Applications of Smart Structures Technologies; (1996) https://doi.org/10.1117/12.239148
Event: 1996 Symposium on Smart Structures and Materials, 1996, San Diego, CA, United States

Abstract

An open-loop control method is presented for reducing the oscillatory motion of rotary crane payloads during operator commanded maneuvers. A typical rotary crane consists of a multiple degree-of-freedom platform for positioning a spherical pendulum with an attached payload. The crane operator positions the payload by issuing a combination of translational and rotational commands to the platform as well as load-line length changes. Frequently, these pendulum modes are time-varying and exhibit low natural frequencies. Maneuvers are therefore performed at rate sufficiently slow so as not to excite oscillation. The strategy presented here generates crane commands which suppress vibration of the payload without a priori knowledge of the desired maneuver. Results are presented for operator in-the-loop positioning using a real-time dynamics simulation of a three-axis rotary crane where the residual sway magnitude is reduced in excess of 40 dB.

Citation Download Citation

Gordon G. Parker, Rush D. Robinett III, Brian J. Driessen, and Clark R. Dohrmann "Operator in-the-loop control of rotary cranes", Proc. SPIE 2721, Smart Structures and Materials 1996: Industrial and Commercial Applications of Smart Structures Technologies, (1 May 1996); https://doi.org/10.1117/12.239148

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available