Name
Abstract | ||
|---|---|---|
Off-line crane maneuvers, resulting in zero residual payload swing, have been explored previously using parameter- ized sets of basis functions. Assumptions usually included an ideal servo response and symmetric inputs. Non-symmetric maneuvers, in general, don't have closed form basis function solutions . Actu- ator dynamics further complicate maneuver generation by intro- ducing non-linearities such as saturation. One way to circumvent saturation is to constrain crane operation below the saturation levels of the actuators. This limits the set of available man euvers and can lead to slower, more costly crane operation. This work explores the effects of a common servo non-linearity, velocity saturation, on the swing-free maneuver generation process. A method is presented for maneuver generation that exploits speed saturation while still yielding near swing-free payload motion. An optimization code is used to generate basis function parameters where the cost function includes the speed saturation effects via a simulation of the payload dynamics. Experimental results using a 1/16th scale crane are presented to illustrate the method. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/TCST.2003.813402 | IEEE Trans. Contr. Sys. Techn. |
Keywords | Field | DocType |
Cranes,Payloads,Actuators,Servomechanisms,Vibration control,Acceleration,Cost function,Transportation,Construction industry,Electrical equipment industry | Kinematics,Saturation (chemistry),Servo,Simulation,Control theory,Velocity saturation,Control engineering,Basis function,Mathematics,Actuator,Swing,Payload | Journal |
Volume | Issue | ISSN |
11 | 4 | 1063-6536 |
Citations | PageRank | References |
6 | 0.83 | 3 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Michael J. Agostini | 1 | 6 | 0.83 |
| Gordon G. Parker | 2 | 73 | 9.19 |
| Hanspeter Schaub | 3 | 19 | 3.82 |
| Kenneth Groom | 4 | 33 | 2.82 |
| Rush D. Robinett | 5 | 55 | 18.39 |