ANTI_SWAY_CTRL
Load anti-sway: a ZV input shaper timed to the live pendulum period, plus rope-angle feedback damping.
When to use it
Use ANTI_SWAY_CTRL when a crane carries its load on ropes and the swing has to be suppressed — either open-loop from the rope length alone, or closed-loop where a sway sensor or camera measures the rope angle.
Interface
The published port signature. This is the whole of what the block exposes to your program — the implementation body is not shown here and ships with the download.
Inputs
| Port | Type | Unit |
|---|---|---|
| ENABLE | BOOL | — |
| ACCEL_CMD | REAL | m/s2 |
| ROPE_LEN | REAL | m |
| ROPE_OK | BOOL | — |
| SWAY_ANGLE | REAL | deg |
| SWAY_RATE | REAL | deg/s |
| ANGLE_OK | BOOL | — |
| ZETA | REAL | - |
| KP | REAL | (m/s)/deg |
| KD | REAL | (m/s)/(deg/s) |
| V_MAX | REAL | m/s |
| A_STOP | REAL | m/s2 |
| SWAY_LIM | REAL | deg |
| ACK | BOOL | — |
Outputs
| Port | Type | Unit |
|---|---|---|
| SPEED_CMD | REAL | m/s |
| RESIDUAL_SWAY | REAL | deg |
| SHAPED_ACC | REAL | m/s2 |
| PERIOD | REAL | s |
| VALID | BOOL | — |
| SWAY_VALID | BOOL | — |
| ALM_SWAY_HIGH | BOOL | — |
| ALM_ANGLE_FAULT | BOOL | — |
| ALM_ROPE_FAULT | BOOL | — |
| ALM_ROPE_INVALID | BOOL | — |
| ALM_SHAPER_LIMIT | BOOL | — |
| ALM_CFG_ERR | BOOL | — |
Validation evidence
- Tests
- 11
- Simulated scans
- 347
- Simulator
- v0.1.0
Complete IEC 61131-3 implementation with a published test suite that runs on the vplant simulator. The counts above are that suite, executed on this build.
- Conforms to IEC 61131-3
Download ANTI_SWAY_CTRL — free
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