Soft Control

	Dockside Crane- Medium Application Complexity The requirement of the Customer was to develop a solution for the automated handling of containers between ship and shore. We were involved with the real time monitoring of the natural movement of a container whilst being moved between Ship and Shore. The solution involved analogue load sensors to determine the amplitude and direction of the container swing. Corrective movements were made by analogue load sensors to determine the amplitude and direction of the container swing. Corrective movements were derived by a PID control algorithm controlling proportional valves that in turn controlled hydraulic rams to exert corrective pulling forces on the container.