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CDP Studio Documentation

  • Framework - Equipment
  • AntiSway
  • 4.11.3

AntiSway Class

(Equipment::AntiSway)

The AntiSway speed ramp operator imlements open-loop Anti-Sway. Implementation is based on IEEE article from 2004 More...

Header: #include <AntiSway>
Inherits: CDPOperator<T>
  • List of all members, including inherited members

Public Functions

AntiSway(const CDPPropertyBase &in)
  • 18 public functions inherited from CDPOperator
  • 17 public functions inherited from CDPOperatorBase
  • 42 public functions inherited from CDPBaseObject
  • 26 public functions inherited from CDP::StudioAPI::CDPNode
  • 22 public functions inherited from CDP::StudioAPI::ICDPNode

Additional Inherited Members

  • 1 public variable inherited from CDPOperatorBase
  • 1 static public member inherited from CDPBaseObject
  • 1 protected function inherited from CDP::StudioAPI::CDPNode
  • 8 protected variables inherited from CDPOperator
  • 5 protected variables inherited from CDPOperatorBase
  • 10 protected variables inherited from CDPBaseObject

Detailed Description

The AntiSway speed ramp operator imlements open-loop Anti-Sway. Implementation is based on IEEE article from 2004

Simplified open-loop anti-sway technique

S. Gupta, P. Bhowal

Published 20 December 2004

Engineering, Computer Science

Proceedings of the IEEE INDICON 2004. First India Annual Conference, 2004.

This operator can be used to cancel out load sway induced by speed changes in one motion axis. This operator does not dampen dynamic sway induced by external forces.

Arguments

NameDescription
SpeedInInput speed request.
SpeedOutAnti-Sway ramped speed request.
CableLengthEffective length of load cable.
DampeningFactorEstimate of fraction of load sway amplitude loss per period.
StopPositionEstimated position of full stop based on position, current speed, speed change requests and remainder of velocity to full stop.
PositionCurrent position. Used for StopPosition estimatition.
MaxChangeRateMaximum rate of change allowed for speed in the system. Used for StopPosition estimatition.

Example

Below is an example plot with SpeedIn up ramp and down ramp with SpeedOut, Position and StopPosition estimate plotted as a reference for the operator behavior.

Member Function Documentation

AntiSway::AntiSway(const CDPPropertyBase &in)

Default constructs an instance of AntiSway.

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