Hoisting Manipulation for Flying Cranes

Abstract

A control strategy for hoisting drives of crane systems is discussed. Based on modal coupling control, the desired hoisting velocity is manipulated by superposition of a suitably modulated motion in order to suppress the so–called spaghetti–problem of hoisting–induced pendulations. For a 3–dimensional multibody system featuring the flying–crane –concept the extension of this control strategy to more complicated systems is exemplified. (© 2006 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)