Filtering and fault detection schemes for a trolley crane system

This paper presents several measurement filtering schemes that are implemented on a laboratory-scale trolley crane system. An ultrasound measurement system for the load angle is implemented, and problems related to the filtering of ultrasound and load angle estimation using Kalman filters are discussed. The filtering stages at the ultrasound pulse detection are explained and the performance of two Kalman filter candidates is compared in angle estimation. In addition, an ultrasound based fault detection scheme for the potentiometers of the measurement system is proposed and discussed.