Filtering effects on input-shaped command signals for effective crane control

Sudarshan Ragunathan, David Frakes, Kelvin Peng, William Singhose

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

Human operators have difficulty driving cranes quickly, accurately, and safely because of the slow response of heavy crane structures, non-intuitive control interfaces, and payload oscillations. This paper presents a new type of interface that allows operators to drive a crane by moving a hand-held radio-frequency tag. Real-time location sensors are used to track the movements of the tag and the tag position is used in a feedback control loop to drive the crane. An input shaper is added to eliminate dangerous payload oscillations. Unfortunately, significant sensor noise can increase the energy-usage and settling-time during operation. To reduce these negative side effects, several filters are used on experimentally-acquired tag trajectories. The filtered trajectories are then used to drive crane simulations. The filter performance is evaluated with respect to the energy usage of the crane trolley, and the settling time of the crane payload oscillations. The effects of filter window lengths on these parameters are also investigated.

Original languageEnglish (US)
Title of host publication2011 9th IEEE International Conference on Control and Automation, ICCA 2011
Pages1097-1101
Number of pages5
DOIs
StatePublished - Dec 1 2011
Event9th IEEE International Conference on Control and Automation, ICCA 2011 - Santiago, Chile
Duration: Dec 19 2011Dec 21 2011

Publication series

NameIEEE International Conference on Control and Automation, ICCA
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Other

Other9th IEEE International Conference on Control and Automation, ICCA 2011
CountryChile
CitySantiago
Period12/19/1112/21/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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  • Cite this

    Ragunathan, S., Frakes, D., Peng, K., & Singhose, W. (2011). Filtering effects on input-shaped command signals for effective crane control. In 2011 9th IEEE International Conference on Control and Automation, ICCA 2011 (pp. 1097-1101). [6138082] (IEEE International Conference on Control and Automation, ICCA). https://doi.org/10.1109/ICCA.2011.6138082