Shiraz University Iranian Journal of Science and Technology Transactions of Electrical Engineering 2228-6179 34 6 2010 12 26 Practical implementation of multi-motor drives for wide span gantry cranes 649 654 831 10.22099/ijste.2010.831 EN Journal Article 2009 09 01 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 https://ijste.shirazu.ac.ir/article_831_93e5d8d67b36f23ded167391b60024fb.pdf