Methods And Systems For Double-pendulum Crane Control
Singhose, William Earl
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Disclosed are various embodiments of methods and systems related to double-pendulum crane control. In one embodiment for determining a specified insensitivity (SI) input shaper for a double-pendulum crane, the method using a processor system to implement the steps including determining a plurality of insensitivity ranges based upon operational parameters associated with the double-pendulum crane; and determining SI input shaper parameters based upon tolerances corresponding to the plurality of insensitivity ranges, the SI input shaper parameters including an amplitude and a time corresponding to each impulse of the SI input shaper.
- Georgia Tech Patents