DocumentCode :
347802
Title :
Comparison of command shaping controllers for suppressing payload sway in a rotary boom crane
Author :
Lewis, Derek ; Parker, Gordon G. ; Driessen, Brian ; Robinett, Rush D.
Author_Institution :
Seagate Technol., Bloomington, MN, USA
Volume :
1
fYear :
1999
fDate :
1999
Firstpage :
719
Abstract :
This paper presents the simulation results for two variations on a basic command shaping filter designed to reduce operator induced pendulation in a rotary boom crane. The crane model and the basic command shaper design are based on the authors´ previous work (1998), which consists of a fixed vertical support, a boom capable of rotating about the vertical and elevating with respect to the horizontal, and a lift-line of variable length which sways about the boom tip in a spherical pendulum. The command shaper adapts to changes in the crane configuration and notches out the pendulation frequency, reducing pendulation. The two alternate designs contain additional time-varying elements to improve anti-sway performance. Command shaper stability is studied via conditions for slowly time-varying systems developed by Desoer (1968). Stability is evaluated for the analytic models and verified with numerical simulation results
Keywords :
cranes; filtering theory; pendulums; stability; time-varying systems; anti-sway performance; boom; command shaper stability; command shaping controllers; command shaping filter; fixed vertical support; lift-line; numerical simulation; operator induced pendulation reduction; payload sway suppression; rotary boom crane; slowly time-varying systems; spherical pendulum; time-varying elements; Adaptive filters; Cranes; Intelligent robots; Intelligent systems; Laboratories; Numerical simulation; Payloads; Shape control; Stability analysis; Time varying systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
Type :
conf
DOI :
10.1109/CCA.1999.806740
Filename :
806740
Link To Document :
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