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Pendulation control system and method for rotary boom cranes

United States Patent

August 27, 2002
View the Complete Patent at the US Patent & Trademark Office
Sandia National Laboratories - Visit the Intellectual Property Management and Licensing Website
A command shaping control system and method for rotary boom cranes provides a way to reduce payload pendulation caused by real-time input signals, from either operator command or automated crane maneuvers. The method can take input commands and can apply a command shaping filter to reduce contributors to payload pendulation due to rotation, elevation, and hoisting movements in order to control crane response and reduce tangential and radial payload pendulation. A filter can be applied to a pendulation excitation frequency to reduce residual radial pendulation and tangential pendulation amplitudes.
Robinett, III; Rush D. (Tijeras, NM), Groom; Kenneth N. (Albuquerque, NM), Feddema; John T. (Albuquerque, NM), Parker; Gordon G. (Houghton, MI)
Sandia Corporation (Albuquerque, NM)
09/ 339,787
June 24, 1999
This invention was made with Government support under Contract DE-AC04-94AL85000 awarded by the U.S. Department of Energy. The Government has certain rights in the invention.