造船龙门起重机随着造船业的迅速发展也跟着快速发展起来。在大车行走过程中，由于龙门起重机的刚腿和柔腿之间的跨距较大，因此要求刚腿和柔腿的位移要始终保持一致，如果偏差过大则会造成大车偏斜运行等严重后果。本文结合软硬件的设计，详细介绍了大车纠偏控制系统从位置检测到位置闭环控制是如何实现大车的实时纠偏。%With the rapid development of shipbuilding industry, the shipbuilding Goliath gantry crane equipment has made great progress. Due to the distance between the fix leg and flex leg of gantry crane is long, the two legs must keep moving synchronously all the time when the gantry is moving. If the deviation of gantry is too large, it will result in serious consequences. According to the design of hardware and software, the paper introduces the gantry skew control system in details based on the position detection and position close-loop control.
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