Controller for a lifting device, and method for operating same
AssigneeSiemens Aktiengesellschaft
InventorsMarco Bock, Uwe Ladra, Fabian Lorz
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Abstract
A controller controls a plurality of drives of a lifting device, wherein the controller is configured to perform a kinematic transformation of spatial position and orientation coordinates of a body and controls the drives based on the kinematic transformation. The drives can be electric drives. At least six drives are provided and regulated, so that their number exceeds the number of spatial position and orientation coordinates of the body. The lifting device is thus overdetermined.
Claims18
A controller controlling a plurality of drives of a lifting device positioning a body, said controller being configured to perform a kinematic transformation of a spatial position and an orientation of the body, with the lifting device being overdetermined by having more drives than degrees of freedom of the body to be positioned, the controller further comprising an optimizing device for optimizing cable forces by at least one of minimizing a maximum cable force, by maximizing a minimal cable force, and by distributing the cable forces equally onto the cables.
A method for controlling a lifting device, comprising:
- performing a kinematic transformation of spatial position and orientation coordinates of a body to be lifted by at least six drives of a lifting device,
- controlling the at least six drives by way of closed-loop control, and
- with the kinematic transformation, computing from a desired speed curve of a trajectory of the body a rotational speed desired value curve of the drives.
A method for controlling a lifting device, comprising:
- performing a kinematic transformation of spatial position and orientation coordinates of a body to be lifted by at least six drives of a lifting device,
- controlling the at least six drives by way of closed-loop control, and
- controlling and adapting the drives in dependence on a lifting height or path dynamics of the body, with the lifting height effecting a change of the path dynamics.
Dependencies are inferred from the claim text.