Advantages of using command shaping over feedback for crane control

Cranes are the primary heavy lifters for a wide variety of industries. However, all cranes share the same important limitation on efficiency: payload oscillation. Given the significance of cranes, it is not surprising that a large amount of research has been dedicated to eliminating this oscillation...

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Bibliographic Details
Published inProceedings of the 2010 American Control Conference pp. 2308 - 2313
Main Authors Vaughan, J, Maleki, E, Singhose, W
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2010
Subjects
Adaptive control
Control systems
Cranes
Damping
Feedback control
Frequency estimation
Humans
Machine vision
Payloads
Shape control
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Summary:Cranes are the primary heavy lifters for a wide variety of industries. However, all cranes share the same important limitation on efficiency: payload oscillation. Given the significance of cranes, it is not surprising that a large amount of research has been dedicated to eliminating this oscillation. Much of this research has been directed toward feedback control methods. Another portion of the work has focused primarily on command-shaping methods. This paper explores the problems with using feedback for crane control, which include the difficulty in sensing the crane payload, widely varying system dynamics, and human-operator compatibility. In light of these problems, input shaping is shown to be a favorable solution.
ISBN:9781424474264
1424474264
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2010.5530548