Suspended Load Thrust Control Using Inertia-Normalized Torque Tuning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing suspended load control systems face challenges in efficiently and safely controlling the orientation and position of loads suspended on cables, particularly due to unpredictable disturbances, limited power, and the need for manual configuration updates, leading to hazardous and inefficient operations.
Innovation Solution
A suspended load control system (SLCS) that autonomously adjusts thrust output using a hyperparameter representing a normalized moment of inertia, continuously accounting for thruster-to-thruster distance, load configuration, and disturbance forces, without requiring direct human input or extensive sensor data, and incorporates gain adjustment and autonomous state response modules to adapt to changing conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If manual configuration updates are used to control load orientation and position, then system complexity is reduced, but control reliability and safety deteriorate due to unpredictable disturbances and limited power
Solution Approach 1:
The control system autonomously determines thruster configuration parameters including distances between thrusters and the load without requiring manual configuration updates. The system self-adjusts to changing conditions by continuously monitoring and recalculating optimal thruster positions and orientations, enabling adaptive control while maintaining simplified hardware architecture
Solution Approach 2:
The system dynamically adapts thruster configuration in response to changing operational conditions such as disturbance forces and power availability. By continuously adjusting thruster-to-thruster distances and orientations based on real-time state information, the system maintains optimal control performance across varying operational scenarios without increasing physical complexity
2Measurement precision
If extensive sensor data and direct human input are required for control adjustments, then measurement precision improves, but ease of operation and response time deteriorate
Solution Approach 1:
The control system autonomously determines its own state information including thruster positions, orientations, and distances to the load without requiring direct human input. The system self-calibrates and self-configures by processing minimal sensor data through autonomous algorithms, achieving both measurement precision and operational simplicity
Solution Approach 2:
The system extracts only the essential state information needed for control decisions from sensor data, avoiding the need for extensive measurements. By focusing on critical parameters such as thruster-to-load distance and orientation, the system achieves accurate control with minimal sensing requirements and simplified operation
3Device complexity
If traditional control methods are used without autonomous adaptation, then device complexity is reduced, but power consumption increases due to inefficient thrust application and self-induced cyclic motion
Solution Approach 1:
The control system dynamically optimizes thrust application by continuously adjusting thruster configuration based on actual load position and disturbance forces. This adaptive approach eliminates self-induced cyclic motion and ensures thrust is applied only when and where needed, significantly reducing power consumption compared to traditional continuous or periodic control methods
Solution Approach 2:
The system changes operational parameters such as thruster orientation, distance from load, and thrust magnitude in response to varying conditions. By optimizing these parameters in real-time, the system minimizes energy waste from ineffective thrust application while maintaining simplified control architecture through autonomous parameter adjustment
4Adaptability or versatility
If frequent manual intervention is required to update control configuration, then adaptability to changing conditions improves, but loss of time and productivity deteriorate
Solution Approach 1:
The control system autonomously determines and updates its configuration parameters including thruster positions and orientations in response to changing operational conditions. This self-adaptation eliminates the need for frequent manual intervention, allowing the system to maintain optimal performance while continuing operations without interruption
Solution Approach 2:
The system performs preliminary configuration adjustments based on predicted operational needs and current state information. By proactively adapting thruster configuration before disturbances occur or conditions change significantly, the system maintains readiness and optimizes performance without requiring reactive manual intervention that would interrupt operations
Data Source
AI summary
Disclosed are systems, apparatuses, and methods for and related to dynamic control of torque and or lateral thrust applied to a load suspended load on a suspension cable to thereby achieve a target orientation or position or to otherwise move through use of a hyperparameter, wherein the hyperparameter comprises a normalized moment of inertia, wherein the hyperparameter comprises a ratio of a force command to a thruster and an angular acceleration.