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

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Journal Title
Journal ISSN
Volume Title
School of Electrical Engineering | A4 Artikkeli konferenssijulkaisussa
Date
2013
Major/Subject
Mcode
Degree programme
Language
en
Pages
6
Series
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.
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Keywords
extended Kalman filters, inertial measurement units, observers, gyroscopes, accelerometers, sensor fusion
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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.