Feedback control for suppression of crane payload oscillation using on-off commands

被引：4
|
作者：
Hekman, Keith A. [1 ,2 ]
Singhose, William E. [3 ]
机构：
[1] Amer Univ Cairo, Cairo 11511, Egypt
[2] Calvin Coll, Dept Engn, Grand Rapids, MI 49546 USA
[3] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
关键词：
D O I：
10.1109/ACC.2006.1656478
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
When cranes move objects in a workspace, the payload frequently swings with large amplitude motion. Open loop methods have addressed this problem, but are not effective for disturbances. Closed loop methods have also been used, but require variable speed driving motors. This paper develops a feedback based method for controlling single speed motors to cancel the measured payload oscillations by intelligently timing the ensuing on and off motor commands. The oscillation suppression scheme is experimentally verified on a bridge crane.
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页码：1784 / +
页数：2
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