Title :
Observing the load dynamic of an overhead crane with minimal sensor equipment
Author :
Altafini, Claudio ; Frezza, R.
Author_Institution :
R. Inst. of Technol., Stockholm
Abstract :
Sensing the load dynamic in an overhead crane is not a simple task because both load angular position and velocity measurements are not easily attainable and subject to disturbances. A method to reconstruct the dynamic of the load is presented. It is based on the estimate of the torque that the load produces on the drive that governs the translational dynamic of the trolley at which the load is hanging. It requires a minimal sensor equipment, namely measures of the electrical torque and angular velocity of the drive, as both swing angle and load speed are shown to be observable for the linearized model
Keywords :
angular velocity measurement; cranes; dynamics; linearisation techniques; observers; torque measurement; angular velocity; electrical torque; linearized model; load angular position; load dynamic observation; load speed; minimal sensor equipment; overhead crane; swing angle; translational dynamic; velocity measurements; Angular velocity control; Cranes; Nonlinear control systems; Open loop systems; Optimal control; Sensor systems; Torque control; Torque converters; Velocity measurement; Vibration measurement;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844868
