Design of coordinated control system for beam-carried cranes group based on RTK-GPS

The coordinated control system for beam-carried cranes group used symmetrically laid two dual-frequency carrier phase real-time kinematic difference global position system (RTK-GPS) receivers to complete the large-scale beam-carrier's position and direction measurement. Based on Kalman filter, the data fusion technology eliminated the volatility of the GPS data and improved the accuracy of location. The networked control system based on controller area network (CAN) bus combined the wireless network used for inter-crane communication to be as the foundation of the control system. Control strategy based on dual-closed-loop control achieved the synchronization of the beam-carried crane group. Practical application results show that the relative position deviation between the two cranes is not more than 0.1 m, and relative heading angle deviation is not more than 0.1 degree.