This article reports on the development of a controller for the real-time assistance of crane operators in the field of construction, in partnership with Manitowoc (Potain Cranes), a crane manufacturer. Owing to the complexity of construction sites, which notably involve men at work, full automation is deemed undesirable, and operators must be kept in the loop. The goal of the controller is then to track the velocity reference from the operator while guaranteeing the absence of sway (that is, undesirable, residual oscillations). The method uses only built-in crane sensors, and as a result, the state is unobservable and the method is largely open loop. It builds on the celebrated flatness theory coupled with a hierarchical control architecture based on a time-scale separation, where modern variable-speed drives ensure the fast closed-loop control of motor speeds (whereas the method allows for the generation of feedforward, feasible antisway trajectories for the slower mechanical part). The approach is tested on a mockup as well as various cranes, including a 40-m-high tower crane. Tests conducted on crane operators with various levels of experience and one crane instructor confirm the benefits of the controller. Presently, regulatory laws seem to be the main impediment to commercialization.

中文翻译：

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塔式起重机的工业控制：操作员在环方法 [控制中的应用]


本文报道了与起重机制造商 Manitowoc (Potain Cranes) 合作开发的控制器，用于为建筑领域的起重机操作员提供实时协助。由于建筑工地的复杂性，特别是需要人工参与工作，完全自动化被认为是不可取的，操作员必须随时了解情况。控制器的目标是跟踪操作员的速度参考值，同时保证不存在摇摆（即不希望的残余振荡）。该方法仅使用内置起重机传感器，因此状态是不可观测的，并且该方法很大程度上是开环的。它建立在著名的平坦度理论和基于时间尺度分离的分层控制架构的基础上，其中现代变速驱动器确保电机速度的快速闭环控制（而该方法允许生成前馈、可行的防摆）较慢的机械部分的轨迹）。该方法在模型和各种起重机（包括 40 米高的塔式起重机）上进行了测试。对具有不同经验水平的起重机操作员和一名起重机教练进行的测试证实了控制器的优点。目前，监管法律似乎是商业化的主要障碍。