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Anti-Sway Crane Control Method with a Third Order Filter

Abstract : A method for controlling displacement of a load suspended to a point of attachment of a lifting machine includes an acquisition step during which a piloting setpoint is acquired and which is representative of the displacement speed that the operator wishes to confer on the suspended load , a processing step during which a setpoint called execution setpoint , which is applied to a drive motor in order to displace the suspended load , is elaborated from the piloting setpoint , the processing step including a C^3 smoothing substep by third-order filtering during which a third-order filter is applied to the piloting setpoint in order to generate a filtered piloting setpoint of smoothness class C^3 , and the execution setpoint is defined from the filtered piloting set point .
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Contributor : Silvere Bonnabel <>
Submitted on : Wednesday, January 16, 2019 - 2:28:12 AM
Last modification on : Thursday, September 24, 2020 - 5:04:02 PM


  • HAL Id : hal-01982803, version 1


Silvere Bonnabel, Xavier Claeys. Anti-Sway Crane Control Method with a Third Order Filter. United States, Patent n° : US20180093868A1. 2018. ⟨hal-01982803⟩



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