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Sway Estimation Using Inertial Measurement Units for Cranes with a Rotating Tool

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.author Kalmari, Jouko
dc.contributor.author Hyyti, Heikki
dc.contributor.author Visala, Arto
dc.date.accessioned 2015-01-21T10:00:11Z
dc.date.available 2015-01-21T10:00:11Z
dc.date.issued 2013
dc.identifier.citation Kalmari, Jouko & Hyyti, Heikki & Visala, Arto. 2013. Sway Estimation Using Inertial Measurement Units for Cranes with a Rotating Tool. 8th IFAC Symposium on Intelligent Autonomous Vehicles, Australia, 2013. DOI: 10.3182/20130626-3-AU-2035.00050. en
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/14989
dc.description.abstract Cranes have often a freely hanging load or tool that starts easily swaying. Anti-sway control requires that the angles and angular velocities of the swinging object are measured. Some cranes can also rotate the tool with a hydraulic motor, and in many cases this rotator angle should also be known. Instrumenting all three axes, two swaying and one rotating axis, with traditional rotary encoders can be challenging. We propose an extended Kalman filter based system using two inertial measurement units. This system can measure the swaying in both directions and estimate the rotator angle. Computer vision system is used as reference. The initial results show that the error is approximately 5 degrees in the rotator angle and 2 degrees in the sway angles. The observer runs at 100 Hz on an embedded microcontroller. en
dc.format.extent 6
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Aalto University en
dc.publisher Aalto-yliopisto fi
dc.relation.ispartof 8th IFAC Symposium on Intelligent Autonomous Vehicles, Australia, 2013 en
dc.subject.other Automation en
dc.title Sway Estimation Using Inertial Measurement Units for Cranes with a Rotating Tool en
dc.type A4 Artikkeli konferenssijulkaisussa fi
dc.description.version Peer reviewed en
dc.rights.holder IFAC
dc.contributor.school Sähkötekniikan korkeakoulu fi
dc.contributor.school School of Electrical Engineering en
dc.contributor.department Automaatio- ja systeemitekniikan laitos fi
dc.contributor.department Department of Automation and Systems Technology en
dc.subject.keyword extended Kalman filters en
dc.subject.keyword inertial measurement units en
dc.subject.keyword observers en
dc.subject.keyword gyroscopes en
dc.subject.keyword accelerometers en
dc.subject.keyword sensor fusion en
dc.identifier.urn URN:NBN:fi:aalto-201501221179
dc.type.dcmitype text en
dc.identifier.doi 10.3182/20130626-3-AU-2035.00050
dc.type.version Post print en


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