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Control system and method for payload control in mobile platform cranes

United States Patent

December 17, 2002
View the Complete Patent at the US Patent & Trademark Office
Sandia National Laboratories - Visit the Intellectual Property Management and Licensing Website
A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from the desired payload motion.
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/ 695,815
October 24, 2000
This invention was made with Government support under Contract DE-ACO4-94AL85000 awarded by the U.S. Department of Energy. The Government has certain rights in the invention.