Claims
- 1. A crane control system 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 and sensing apparatus provide hoist position and angle of deflection measurements, said crane control system comprising a control system that receives said measurements and causes the hoist to move in a particular manner as a function of estimated operator force applied to the load, which estimated operator force is derived from said measurements.
- 2. A crane control system as described in claim 1, wherein said control system operates without direct measurement of operator force applied to the load.
- 3. A crane control system as described in claim 1, wherein a linear observer is used to obtain estimated operator applied force.
- 4. A crane control system as described in claim 3, wherein said linear observer also generates filtered values for hoist position and velocity.
- 5. A crane control system as described in claim 3, wherein said linear observer also generates filtered values for line angle of deflection and angular velocity.
- 6. A crane control system as described in claim 1, wherein the manner in which said control system causes the hoist to move is also a function of a desired impedance that influences the responsiveness of the crane control system and can be used to damp load swing.
- 7. A crane control system as described in claim 6, wherein said desired impedance is adjustable and thereby provides variable damping of load swing.
- 8. A crane control system as described in claim 1, wherein said function further includes a desired impedance that influences the responsiveness of the crane control system and can be used to control the amount of inertia experienced by the operator in moving the load.
- 9. A crane control system as described in claim 8, wherein said desired impedance is adjustable such that operator experienced inertia is variable.
- 10. A crane control system 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.
- 11. A crane control system 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.
- 12. A crane control system as described in claim 1, wherein a pole-placement controller is used to track a reference trajectory.
- 13. A crane control system as described in claim 1, wherein a pole-placement controller assists in damping load swing.
- 14. A crane control system 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 and sensing apparatus provide hoist position and angle of deflection measurements, said crane control system comprising a control system that receives said measurements and causes the hoist to move in a particular manner as a function of estimated operator force applied to the load, a linear observer being used to obtain estimated operator force based on said measurements.
- 15. A crane control system as described in claim 14, wherein said linear observer also generates filtered values for hoist position and velocity.
- 16. A crane control system as described in claim 14, wherein said linear observer also generates filtered values for line angle of deflection and angular velocity.
- 17. A crane control system as described in claim 14, wherein the manner in which said control system causes the hoist to move is also a function of a desired impedance that influences the responsiveness of the crane control system and can be used to damp load swing.
- 18. A crane control system as described in claim 17, wherein said desired impedance is adjustable and thereby provides variable damping of load swing.
- 19. A crane control system as described in claim 14, wherein said function further includes a desired impedance that influences the responsiveness of the crane control system and can be used to control the amount of inertia experienced by the operator in moving the load.
- 20. A crane control system as described in claim 19, wherein said desired impedance is adjustable such that operator experienced inertia is variable.
- 21. A crane control system as described in claim 14, wherein estimated operator force is used to generate the desired position of the load by passing it through a desired impedance block.
- 22. A crane control system as described in claim 14, wherein a correction block is used to calculate the desired position of the hoist and the change in its desired position over time.
- 23. A crane control system as described in claim 14, wherein a pole-placement controller is used to track a reference trajectory.
- 24. A crane control system as described in claim 14, wherein a pole-placement controller assists in damping load swing.
- 25. A crane control system as described in claim 14, wherein said control system operates without direct measurement of operator force applied to the load.
- 26. A crane control system 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 and sensing apparatus provide hoist position and angle of deflection measurements, said crane control system comprising:
a linear observer using said measurements to generate an estimated operator force applied to the load; and a desired impedance block using the estimated operator force applied to the load to generate the desired position of the load.
- 27. A crane control system as described in claim 26, wherein the desired impedance block generates the desired position of the load based on the following formula:
- 28. A crane control system as described in claim 27, 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:
- 29. A crane control system as described in claim 28, wherein a pole placement controller is used to track the reference trajectory X=[xd, {dot over (x)}d, 0, 0]T.
- 30. A crane control system as described in claim 29, wherein anti-swing is achieved with a desired load impedance, when Fx=K1(xd−x)+K2({dot over (x)}d−{circumflex over ({dot over (x)})})+K3θ+K4{circumflex over ({dot over (θ)})} where Ki, i=1,2,3,4 are given by specific locations of the system poles.
Parent Case Info
[0001] This application claims the benefit of U. S. Provisional Application No. 60/267,850, filed on Feb. 9, 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 |