This paper describes a vertical lifting control and level luffing control design for newly developed, fully hydraulic-driven floating cranes. Unlike lattice boom crawler cranes for land use, the floating cranes are affected by the pitching and rolling motions of the pontoons on which the crane machinery is installed. A control algorithm was developed, taking into consideration the dynamics of the pitching and rolling motions of the pontoons, as well as the motion controls for load hoisting and boom hoisting.
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