Patent ID: 9132997
Filing Date: 2015-09-15
Classification: B66C

Abstract:
1. In a crane system comprising a crane trolley and a supporting device for carrying a payload, an improved crane control system useful for simplifying the crane system operation and in maintaining a safe distance between the payload and a desired location of safety, wherein a locator device is used for manipulating at least one of the position and speed of the supporting device, the crane control system also useful in dampening payload oscillations when the crane trolley is accelerated or decelerated, the improved crane control system comprising: a real-time position-location module generating a position signal indicative of a vector between an element of the crane system and the desired location; an on-off controller module mapping the position signal to a velocity command signal, wherein the velocity command signal comprises instructions for the crane trolley to move the supporting device in a vector relative to the desired location in at least a first velocity only if a magnitude of the vector between the element of the crane system and the desired location is greater than a cut-off threshold, wherein the at least a first velocity is substantially constant; and an input shaper module manipulating the velocity command signal mapped by the on-off controller module to dampen payload oscillations when the crane trolley is accelerated or decelerated.