Documents disponibles écrits par cet auteur

Control of tower cranes with double-pendulum payload dynamics / Joshua Vaughan in IEEE Transactions on control systems technology, Vol. 18 N° 6 (Novembre 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1063-6536 Titre : Control of tower cranes with double-pendulum payload dynamics Type de document : texte imprimé Auteurs : Joshua Vaughan, Auteur ; Dooroo Kim, Auteur ; Singhose, Wiliam, Auteur Année de publication : 2011 Article en page(s) : pp. 1063-6536 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Cranes  Input  shaping  Tower  crane  oscillation  Vibration Index. décimale : 629.1 Résumé : The usefulness of cranes is limited because the payload is supported by an overhead suspension cable that allows oscillation to occur during crane motion. Under certain conditions, the payload dynamics may introduce an additional oscillatory mode that creates a double pendulum. This paper presents an analysis of this effect on tower cranes. This paper also reviews a command generation technique to suppress the oscillatory dynamics with robustness to frequency changes. Experimental results are presented to verify that the proposed method can improve the ability of crane operators to drive a double-pendulum tower crane. The performance improvements occurred during both local and teleoperated control. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5422812 [article] Control of tower cranes with double-pendulum payload dynamics [texte imprimé] / Joshua Vaughan, Auteur ; Dooroo Kim, Auteur ; Singhose, Wiliam, Auteur . - 2011 . - pp. 1063-6536. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1063-6536 Mots-clés : Cranes  Input  shaping  Tower  crane  oscillation  Vibration Index. décimale : 629.1 Résumé : The usefulness of cranes is limited because the payload is supported by an overhead suspension cable that allows oscillation to occur during crane motion. Under certain conditions, the payload dynamics may introduce an additional oscillatory mode that creates a double pendulum. This paper presents an analysis of this effect on tower cranes. This paper also reviews a command generation technique to suppress the oscillatory dynamics with robustness to frequency changes. Experimental results are presented to verify that the proposed method can improve the ability of crane operators to drive a double-pendulum tower crane. The performance improvements occurred during both local and teleoperated control. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5422812

Dynamics and control of bridge cranes transporting distributed-mass payloads / Raymond Manning in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 1 (Janvier/Fevrier 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 1 (Janvier/Fevrier 2010) . - 08 p. Titre : Dynamics and control of bridge cranes transporting distributed-mass payloads Type de document : texte imprimé Auteurs : Raymond Manning, Auteur ; Jeffrey Clement, Auteur ; Dooroo Kim, Auteur Année de publication : 2010 Article en page(s) : 08 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Bridges  (structures)  Cranes  Damping  Human  factors  Input-output  stability  Pendulums  Shape  control Index. décimale : 629.8 Résumé : The large-amplitude and lightly-damped oscillation of crane payloads is detrimental to safe and efficient operation. The problem is further complicated when the payload creates a double-pendulum effect. Previous researches have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on previous developments by thoroughly describing the double-pendulum dynamic effects as a function of payload parameters and the crane configuration. Furthermore, an input-shaping control method is developed to suppress double-pendulum oscillations created by a payload with distributed-mass properties. Experiments performed on a 10-ton industrial bridge crane verify the effectiveness of the method. A critical aspect of the testing was human operator studies, wherein numerous operators utilized the input-shaping controller to perform manipulation tasks. The performance improvements provided by the input-shaping controller, as well as operator learning effects, are reported. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Dynamics and control of bridge cranes transporting distributed-mass payloads [texte imprimé] / Raymond Manning, Auteur ; Jeffrey Clement, Auteur ; Dooroo Kim, Auteur . - 2010 . - 08 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 1 (Janvier/Fevrier 2010) . - 08 p. Mots-clés : Bridges  (structures)  Cranes  Damping  Human  factors  Input-output  stability  Pendulums  Shape  control Index. décimale : 629.8 Résumé : The large-amplitude and lightly-damped oscillation of crane payloads is detrimental to safe and efficient operation. The problem is further complicated when the payload creates a double-pendulum effect. Previous researches have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on previous developments by thoroughly describing the double-pendulum dynamic effects as a function of payload parameters and the crane configuration. Furthermore, an input-shaping control method is developed to suppress double-pendulum oscillations created by a payload with distributed-mass properties. Experiments performed on a 10-ton industrial bridge crane verify the effectiveness of the method. A critical aspect of the testing was human operator studies, wherein numerous operators utilized the input-shaping controller to perform manipulation tasks. The performance improvements provided by the input-shaping controller, as well as operator learning effects, are reported. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Input shaping control of double-pendulum bridge crane oscillations / William Singhose in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Titre : Input shaping control of double-pendulum bridge crane oscillations Type de document : texte imprimé Auteurs : William Singhose, Auteur ; Michael Kenison, Auteur ; Dooroo Kim, Auteur Année de publication : 2010 Article en page(s) : 07 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : crane  payloads;  oscillation;  input  shaping  controller Résumé : Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Input shaping control of double-pendulum bridge crane oscillations [texte imprimé] / William Singhose, Auteur ; Michael Kenison, Auteur ; Dooroo Kim, Auteur . - 2010 . - 07 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Mots-clés : crane  payloads;  oscillation;  input  shaping  controller Résumé : Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]