Floating Base Load Control with Inertial Compensation
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Solution Overview
Problem
Existing load handling machines face challenges in efficiently controlling the movement of heavy loads due to external disturbances like strong winds and the need to reduce the mass of machine components, which complicates movement control.
Innovation Solution
The implementation of an apparatus with a floating base equipped with an exteroceptive observation system and an inertial measurement unit, allowing for position or velocity compensation of a target, such as a suspended load, based on inertial states and statistical inference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the mass of machine components is reduced, then efficiency and speed are improved, but control precision deteriorates due to increased sensitivity to external disturbances
Solution Approach 1:
The patent implements feedback control by using sensors to detect the actual position and state of the load, comparing it with the desired position, and adjusting the control signals accordingly. This closed-loop feedback mechanism maintains control precision even with reduced component mass by continuously compensating for deviations caused by external disturbances.
Solution Approach 2:
The patent introduces an intermediary control system that includes sensors, controllers, and actuators between the load handling machine and the external disturbances. This intermediary system filters and compensates for the effects of external disturbances, allowing the machine to maintain precision despite having reduced mass and increased sensitivity.
2Productivity
If external disturbances like strong winds are present, then operational capability is maintained, but control accuracy deteriorates
Solution Approach 1:
The patent converts the harmful effect of external disturbances into useful information by using sensors to detect disturbance forces and motions. This detected information is then fed into the control system, which generates compensatory control signals to counteract the disturbances, thereby transforming environmental challenges into opportunities for improved control accuracy.
Solution Approach 2:
The patent dynamically adjusts control parameters such as gain values, filtering characteristics, and control forces in response to detected external disturbances. By changing these parameters adaptively, the system maintains operational capability under varying environmental conditions while preserving control accuracy through real-time optimization.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach improves the control performance of load handling machines by effectively compensating for external disturbances and ensuring precise movement control of heavy loads.
Implementation Method 1
an inertial measurement unit configured to measure at least one inertial state of the floating base with respect to an inertial reference coordinate frame
Data Source
AI summary
Various example embodiments relate to motion control of a target such as a suspended load. An apparatus may comprise: a floating base comprising an exteroceptive observation system configured to measure a position or velocity of at least one target with respect to a reference coordinate frame moving with the floating base. The floating base may further comprise an inertial measurement unit configured to measure at least one inertial state of the floating base with respect to an inertial reference coordinate frame. Position or velocity compensation for the at least one target may be performed based on the at least one inertial state of the floating base.