Load positioning and pendulation damping method for container stacking uses individual adjustment of lifting cables for individual and combined movement of load in 6 degrees of movement

摘要

The load positioning and pendulation damping method uses individual adjustment of the respective cables for a number of mechanically simple lifting device attached to the load at different points, via respective setting elements, e.g. hydraulic cylinders (1,5), in dependence on the detected position of the load, to allow individual and combined movement of the load in 6 degrees of movement, using respective control channels. The control signals for the individual movements are transformed into a coordinate system corresponding to the effective directions of the setting elements via a transformation matrix determined by the geometry of the lifting cables. An Independent claim for a load lifting system is also included.