中文摘要：

双提梁机组协调控制系统利用对称布置的双频载波相位RTK—GPS（Real—Time Kinematic difference Global Position System）接收机完成对提梁机位置、航向位姿信息的测量，通过卡尔曼滤波与里程计融合，消除坐标定位信息的波动，提高位姿测定的精度；单机采用基于CAN（Controller Area Network）总线的网络控制系统，机组间数据传输采用无线网络，构成混合网络控制系统；采用基于双闭环的同步控制策略实现对两提梁机的同步协调控制．实际应用结果表明，两提梁机间相对位置偏差不超过0．1m，相对航向角度偏差不超过0．1°．

英文摘要：

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.