Experimental verification of a command shaping boom crane control system Conference Paper

abstract

• This paper presents experimental results of a command shaping control method for suppressing payload swing caused by operator commanded maneuvers, in rotary, ship-based, boom cranes. The crane configuration investigated, consists of a payload mass that swings on the end of a spherical pendulum of varying lift-line length (hoisting). The lift-line is attached to a boom capable of elevation (luffing) and rotation about a vertical axis (slewing). Positioning of the payload is accomplished through luff, slew and hoist commands issued in real-time by an operator. The command shaping strategy, consisting of a time-varying filter, reduces payload oscillation by 18 dB in experiments using the 1/16th scale Navy Crane Testbed at Sandia National Laboratories.

authors

• Hurtado, John

published proceedings

• Proceedings of the American Control Conference

author list (cited authors)

• Parker, G. G., Groom, K., Hurtado, J. E., Feddema, J., Robinett, R. D., & Leban, F.

complete list of authors

• Parker, GG||Groom, K||Hurtado, JE||Feddema, J||Robinett, RD||Leban, F

publication date

• December 1999

published in

• Proceedings of the ... American Control Conference. American Control Conference  Journal

start page

• 86

end page

• 90

volume

• 1