Sandia Corporation

The United States of America As Represented by the United States

Ben J Petterson

Rush D Robinett, Iii

John T Feddema

David R Strip

James L Novak

Gordon G Parker

James F Jones

Clark R Dohrmann

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.

Sway control method and system for rotary cranes

A system and method for eliminating swing motions in gantry-style cranes while subject to operator control is presented. The present invention comprises an infinite impulse response ('IIR') filter and a proportional-integral ('PI') feedback controller (50). The IIR filter receives input signals (46) (commanded velocity or acceleration) from an operator input device (45) and transforms them into output signals (47) in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder (25). The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor (27). The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload.

Operator control systems and methods for swing-free gantry-style cranes

A sensing system locates an object by sensing the object's effect on electric fields. The object's effect on the mutual capacitance of electrode pairs varies according to the distance between the object and the electrodes. A single electrode pair can sense the distance from the object to the electrodes. Multiple electrode pairs can more precisely locate the object in one or more dimensions.

Object locating system

A payload suspended from a gantry is swing damped in accordance with a control algorithm based on the periodic motion of the suspended mass or by servoing on the forces induced by the suspended mass.

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Albuquerque, NM, United States of America

Ben J Petterson