Method for controlling the orientation of a crane load and a boom crane
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United States of America Patent
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Jan 31, 2017
Grant Date -
Dec 3, 2015
app pub date -
Jun 2, 2015
filing date -
Jun 2, 2014
priority date (Note) -
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Abstract
The present disclosure relates to a method for controlling the orientation of a crane load, wherein a manipulator for manipulating the load is connected by a rotator unit to a hook suspended on ropes and the skew angle ηL of the load is controlled by a control unit of the crane, characterized in that the control unit is an adaptive control unit wherein an estimated system state of the crane system is determined by use of a nonlinear model describing the skew dynamics during operation.
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