Integrated and automated control of a crane's rider block tagline system

A method is provided to automatically control a cranes's rider block liftline and taglines. Current position of the crane's rider block is determined in terms of its horizontal and vertical coordinates, as well as in terms of the inhaul angle of the liftline. A matrix is then generated that defines i) incremental change in the rider block's horizontal coordinate with respect to incremental change in each of the boom angle, a length of the liftline and a length of the taglines, ii) incremental change in the vertical coordinate with respect to incremental change in each of the boom angle and lengths of the liftline and taglines, and iii) incremental change in the sine of the inhaul angle with respect to incremental change in each of the boom angle and lengths of the liftline and taglines. A vector defining velocity criteria for the rider block is provided. The velocity criteria is defined in terms of horizontal motion of the rider block, vertical motion of the rider block and rate of change of the inhaul angle. The velocity criteria vector is multiplied by an inversion of the matrix to generate a control matrix that defines speed and direction of travel for the liftline and taglines. Movement of the liftline and taglines is controlled using the control matrix.