Practical implementation of multi-motor drives for wide span gantry cranes

Document Type: Research Paper



This paper relates to rail mounted wide span gantry cranes and especially to the design of anti-skewing controller. The hereby presented algorithm provides skew elimination according to a simple, efficient and practically applicable method based on two absolute encoders and a skew controller realized in PLC. A safe and reliable operation, even in the case of components failure requires an additional compensator with minimal hardware requirements. Design points are outlined and characteristic results are shown. The proposed solution is experimentally verified in different industry branches