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> |
Public Functions
| AntiSway(const CDPPropertyBase &in) |
- 18 public functions inherited from CDPOperator
- 17 public functions inherited from CDPOperatorBase
- 49 public functions inherited from CDPBaseObject
- 27 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
| Name | Description |
|---|---|
| SpeedIn | Input speed request. |
| SpeedOut | Anti-Sway ramped speed request. |
| CableLength | Effective length of load cable. |
| DampeningFactor | Estimate of fraction of load sway amplitude loss per period. |
| StopPosition | Estimated position of full stop based on position, current speed, speed change requests and remainder of velocity to full stop. |
| Position | Current position. Used for StopPosition estimatition. |
| MaxChangeRate | Maximum 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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