橋式起重機外文翻譯--一種工業(yè)橋式起重機的多工作模式防搖與定位控制（英文）

1、A Multi-Operational-Mode Anti-Sway and Positioning Control for an Industrial Bridge Crane ?,??Khalid Sorensen ? Hannas Fisch ?? Steve Dickerson ???William Singhose ? Urs Glauser ??? Woodruff School of Mechanical Engineer

2、ing, Georgia Institute of Technology, Atlanta, GA, 30332 USA (Tel: 404-385-0668; e-mail: Singhose@ Gatech.edu) ?? Zurich University of Applied Sciences, Winterthur, Switzerland ??? CAMotion Inc., Atlanta, GA, 30318 USA (

3、Tel: 404-874-0090; e-mail: Steve.Dickerson@ Camotion.com)Abstract: A 30-ton industrial bridge crane located at an aluminum sheet manufacturer has been equipped with a crane manipulation system enabling swing-free motion,

4、 disturbance rejection, and precise positioning. Previous investigations of anti-sway, positioning, and crane control have yielded important contributions in these areas. These advancements are combined into the unified

5、crane manipulation system described here. An overview of this system is presented, along with experimental results, and a description of how human operators use the crane.Keywords: Input Shaping; Command Shaping; Crane C

6、ontrol; Anti-Sway; Feedback Control; Machine Vision.1. INTRODUCTIONC RANES are used throughout the world in thousands of shipping yards, construction sites, steel mills, warehouses, nuclear power and waste storage facili

7、ties, and other industrial complexes. Safe and efficient motion of these structures is an important contributor to industrial productivity.An important property of cranes that can adversely affect safe and efficient moti

8、on is the tendency for a crane payload to swing. External disturbances, such as wind, or commanded motion can cause significant payload swing. Payload swing makes precise positioning time consuming for a human operator;

9、furthermore, when the payload or surrounding obstacles are of a hazardous or fragile nature, payload swing may present a safety hazard.The broad usage of cranes, coupled with the need to reduce undesired oscillation, has

10、 motivated a large amount of research. Significant advancements have been made in the areas of 1) motion-induced oscillation reduction, 2) distur- bance rejection, 3) positioning capability, 4) payload swing detection, a

11、nd 5) operator interface design. Advancements from each of these areas have been combined into a unified crane manipulation system (CMS). The utility of the CMS is that it provides operators with a means for generating?

12、This work was supported by CAMotion Inc. Logan Aluminum, and Siemens Energy & Automation. ??Patent Notice: The control methods described in this paper are protected by the World Intellectual Property Organization (WO

13、 2006/115912 A2). Commercial use of these methods requires written permission from CAMotion Inc. and the Georgia Institute of Tech- nology.safe and efficient swing-free motion, and the capability for precise positioning.

14、This paper describes the components of the CMS, and the implementation of this system on a 30-ton industrial bridge crane. This crane is located at Logan Aluminum, a leading manufacturer of aluminum sheet products.In Sec

15、tion 2, a description of the Logan crane and its dynamic behavior is presented. Section 3 provides an overview of the CMS and how this system is integrated into the Logan crane. Results of performance experiments con- du

16、cted on the CMS-equipped Logan crane are presented in Section 4.2. SYSTEM DESCRIPTIONFigure 1 shows a photograph of the 30-ton Logan crane. The trolley traverses along the bridge, which spans a distance of approximately

17、30 meters. Likewise, the bridge can traverse along stationary rails for a distance of ap- proximately 50 meters. The hook is suspended beneath the trolley. During operation, the suspension cable length varies between 3 a

18、nd 10 meters.The bridge is equipped with two 7.5-kilowatt (10 - horse- power) 480-volt AC induction motors. Similarly, the trol- ley is equipped with two 3.75-kilowatt (5 - horsepower) 480-volt AC induction motors. The m

19、otors are controlled by Magnetek Impulse P 3 vector drives. This equipment permits continuously variable velocity control. Addition- ally, the drives are parameterizable. The maximum per- missible velocity and accelerati

20、on limits have been pro- grammed to be 0.75m/s and 0.75m/s2, respectively.Proceedings of the 17th World Congress The International Federation of Automatic Control Seoul, Korea, July 6-11, 2008978-3-902661-00-5/08/$20.00

21、© 2008 IFAC 881 10.3182/20080706-5-KR-1001.38343. INTEGRATION OF THE CMSThe crane described in Section 2 has been augmented with the CMS. A topological illustration of the CMS-equipped crane is shown in Fig. 5. This

22、 figure depicts the elements that comprise the CMS:? A control architecture for enabling swing-free motionand precise payload positioning.? A visual human-machine interface for aiding precisepositioning of the crane. Thi

23、s interface is imple- mented on a touch screen monitor.? A joystick interface for simplifying gross motion tasks. ? A standard lever interface. ? A machine vision system for sensing hook swing. ? Laser range sensors for

24、measuring crane position.The principal element of the CMS is the anti-sway and positioning control. This component accepts information from the other CMS elements: motion commands from the three interface devices, crane

25、position information from the laser range sensors, and hook displacement information from the machine vision system. The information from these elements is used by the control to produce low- sway velocity commands, whic

26、h are issued to the crane drives. The following subsections provide greater detail about each element of the CMS.3.1 Human-Machine InterfacePrior to installation of the CMS onto the Logan crane, operators commanded crane

27、 motion by using a three- lever interface. This device permits the bridge, trolley, and hook to be commanded independently from each other by their respective actuation levers. Two additional interface devices were insta

28、lled with the CMS: a joystick interface, and a visual touch-screen interface.The motivation for implementing these devices was rooted in improving the way operators control the crane. The vi- sual interface permits simpl

29、ified positioning control, while the joystick permits simplified velocity control.Simplified Positioning. In many applications, precise and repetitive payload positioning is required. The visual interface is a real-time

30、graphical representation of the crane and crane workspace that permits operators to store desired payload destinations, and also command the crane to travel to these locations [Suter et al., 2007, SorensenG DM ?LeverInte

31、rfaceTouch ScreenJoystickAnti-Sway & Positioning ControllerRange SensorsMachine VisionVr VtOriginal Crane SystemFig. 5. Components of the CMS integrated into a cranesystem.et al., 2007b]. To store a payload destinati

32、on for future use, an operator must first manually position the crane in this location. Then, the coordinates corresponding the crane’s position can be automatically stored into the visual interface. A target image repre

33、sents the location on the touch screen. Operators specify a desired hook destination by touching a stored target that is displayed in the graphical workspace image. Once the operator specifies the desired destination, th

34、e feedback control system automatically drives the crane to the specified location without payload sway.Figure 6 is a screen-shot of the visual interface. In region A, the operator can store and specify hook destinations

35、. Region B displays various system indicators, such as anti- sway activity, system errors, and operation mode. Region C displays actual and desired crane position information.For precise positioning applications, the vis

36、ual interface yields significant efficiency advantages over traditional manual control [Sorensen et al., 2007b]. This is because operators using the interface can automatically position the crane at a desired location in

37、 a nearly time-optimal and swing-free manner. Manual positioning is more diffi- cult. Operators must have extensive training. Often, the structures are moved very slowly to ensure accurate and safe positioning.A visual i

38、nterface, similar to the one described here, was installed on a 10-ton industrial bridge crane located at the Georgia Institute of Technology. Operator studies conducted on this crane revealed that operators using the vi

39、sual interface completed positioning tasks 5% to 45% more quickly than with manual control [Sorensen et al., 2007b].In addition to positioning simplicity, there are other bene- fits to using the visual interface. These b

40、enefits are related to the cognitive processes of the human operator. The type of gesture-based control provided by the visual interface utilizes intuition-based behavior [Frigola et al., 2003, Amat et al., 2004], which

41、is less complex and requires less cog- nitive resource use than manual positioning. As discussed in [Stahre, 1995], a tremendous benefit of “shifting” oper- ator actions toward intuition-based behavior is that moreRegion