| 摘要 |
The invention relates to a positioning system for handling goods by means of container cranes. The position (xLM) of the load is measured with a new measuring system (1, 2, 11). The measured value is compared with a value calculated with a model (14) and the difference is supplied to the model for updating thereof. The calculated updated value of the position of the load is used as the actual value (xLB) of the system. The model also supplies calculated values of the speed (xLB) and the change of speed (xLB) of the load, which values are used for internal stabilization. |
