Claims
- 1. A crane control apparatus for controlling lateral movement of a hoist for a line bearing a load where operator force applied to the load in a lateral direction causes angular deflection of the line, comprising:
sensing apparatus providing hoist position and angle of deflection measurements; and a crane control that receives said measurements and can cause the hoist to move in a particular manner as a function of estimated operator force applied to the load without direct measurement of operator force applied to the load, which estimated operator force is derived from said measurements.
- 2. A crane control apparatus as described in claim 1, wherein a linear observer is used by said crane control to obtain estimated operator applied force.
- 3. A crane control apparatus as described in claim 2, wherein said linear observer also generates filtered values for hoist position and velocity.
- 4. A crane control apparatus as described in claim 2, wherein said linear observer also generates filtered values for line angle of deflection and angular velocity.
- 5. A crane control apparatus as described in claim 1, wherein the manner in which said crane control causes the hoist to move is also a function of a desired impedance that influences the responsiveness of the crane control and can be used to damp load swing.
- 6. A crane control apparatus as described in claim 5, wherein said desired impedance is adjustable and thereby provides variable damping of load swing.
- 7. A crane control apparatus as described in claim 1, wherein said function further includes a desired impedance that influences the responsiveness of the crane control and can be used to control the amount of inertia experienced by the operator in moving the load.
- 8. A crane control apparatus as described in claim 7, wherein said desired impedance is adjustable such that operator experienced inertia is variable.
- 9. A crane control apparatus as described in claim 1, wherein estimated operator force is used to generate the desired position of the load by passing it through a desired impedance block.
- 10. A crane control apparatus as described in claim 1, wherein a correction block is used to calculate the desired position of the hoist and the change in its desired position over time.
- 11. A crane control apparatus as described in claim 1, wherein a pole-placement controller is used to track a reference trajectory.
- 12. A crane control apparatus as described in claim 1, wherein a pole-placement controller assists in damping load swing.
- 13. A crane control apparatus as described in claim 1, wherein a linear observer uses said measurements to generate an estimated operator force applied to the load, and a desired impedance block uses the estimated operator force applied to the load to generate the desired position of the load.
- 14. A crane control apparatus as described in claim 13, wherein the desired impedance block generates the desired position of the load based on the following formula:
- 15. A crane control apparatus as described in claim 14, wherein a correction block is used to calculate the terms Xcd and {dot over (x)}cd where Xd is the desired position of the hoist based on the following formulae:
- 16. A crane control apparatus as described in claim 15, wherein a pole placement controller is used to track the reference trajectory Xd=[xd, 0, {dot over (x)}d, 0]T.
- 17. A crane control apparatus as described in claim 16, wherein anti-swing is achieved with a desired load impedance, when Fx=K1(xd−x)−K2θ+K3({dot over (x)}d−{circumflex over ({dot over (x)})}d)−K4{circumflex over ({dot over (θ)})} where Ki, i=1,2,3,4 are given by specific locations of the system poles.
- 18. A crane control method for controlling lateral movement of a hoist for a line bearing a load where operator force applied to the load in a lateral direction causes angular deflection of the line, comprising:
providing sensing apparatus and a crane control, which sensing apparatus provides hoist position and angle of deflection measurements to said crane control, and which crane control receives said measurements and can cause the hoist to move in a particular manner as a function of estimated operator force applied to the load without direct measurement of operator force applied to the load, which estimated operator force is derived from said measurements; and causing the hoist to move in a particular manner using said crane control.
- 19. A crane control method as described in claim 18, wherein a linear observer is used by said crane control to obtain estimated operator applied force.
- 20. A crane control method as described in claim 19, wherein said linear observer also generates filtered values for hoist position and velocity.
- 21. A crane control method as described in claim 19, wherein said linear observer also generates filtered values for line angle of deflection and angular velocity.
- 22. A crane control method as described in claim 18, wherein the manner in which said crane control causes the hoist to move is also a function of a desired impedance that influences the responsiveness of the crane control and can be used to damp load swing.
- 23. A crane control method as described in claim 22, wherein said desired impedance is adjustable and thereby provides variable damping of load swing.
- 24. A crane control method as described in claim 18, wherein said function further includes a desired impedance that influences the responsiveness of the crane control and can be used to control the amount of inertia experienced by the operator in moving the load.
- 25. A crane control method as described in claim 24, wherein said desired impedance is adjustable such that operator experienced inertia is variable.
- 26. A crane control method as described in claim 18, wherein estimated operator force is used to generate the desired position of the load by passing it through a desired impedance block.
- 27. A crane control method as described in claim 18, wherein a correction block is used to calculate the desired position of the hoist and the change in its desired position over time.
- 28. A crane control method as described in claim 18, wherein a pole-placement controller is used to track a reference trajectory.
- 29. A crane control method as described in claim 18, wherein a pole-placement controller assists in damping load swing.
- 30. A crane control method as described in claim 18, wherein a linear observer uses said measurements to generate an estimated operator force applied to the load, and a desired impedance block uses the estimated operator force applied to the load to generate the desired position of the load.
- 31. A crane control method as described in claim 30, wherein the desired impedance block generates the desired position of the load based on the following formula:
- 32. A crane control method as described in claim 31, wherein a correction block is used to calculate the terms Xcd and {dot over (x)}cd where Xd is the desired position of the hoist based on the following formulae:
- 33. A crane control method as described in claim 32, wherein a pole placement controller is used to track the reference trajectory Xd=[xd, 0, {dot over (x)}d, 0]T.
- 34. A crane control method as described in claim 33, wherein anti-swing is achieved with a desired load impedance, when Fx=K1(xd−x)−K2θ+K3({dot over (x)}d−{circumflex over ({dot over (x)})}d)−K4{circumflex over ({dot over (θ)})} where Ki, i=1,2,3,4 are given by specific locations of the system poles.
RELATED APPLICATIONS
[0001] This application is a Continuation-In-Part of allowed U.S. patent application Ser. No. 10/068,640, filed 6 Feb. 2002, entitled CRANE CONTROL SYSTEM, and PCT/US02/03687, filed 7 Feb. 2002, entitled CRANE CONTROL SYSTEM. Priority is also claimed to Provisional Patent Application No. 60/267,850, filed on 9 Feb. 2001, which provisional application is incorporated by reference herein.
Provisional Applications (1)
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Number |
Date |
Country |
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60267850 |
Feb 2001 |
US |
Continuation in Parts (1)
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Number |
Date |
Country |
Parent |
10068640 |
Feb 2002 |
US |
Child |
10636725 |
Aug 2003 |
US |