TY - GEN
T1 - Filtering effects on input-shaped command signals for effective crane control
AU - Ragunathan, Sudarshan
AU - Frakes, David
AU - Peng, Kelvin
AU - Singhose, William
PY - 2011/12/1
Y1 - 2011/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/ICCA.2011.6138082
DO - 10.1109/ICCA.2011.6138082
M3 - Conference contribution
AN - SCOPUS:84858960193
SN - 9781457714757
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 1097
EP - 1101
BT - 2011 9th IEEE International Conference on Control and Automation, ICCA 2011
T2 - 9th IEEE International Conference on Control and Automation, ICCA 2011
Y2 - 19 December 2011 through 21 December 2011
ER -