Siemens Aktiengesellschaft

Marco Bock

Wolfgang Papiernik

Uwe Ladra

Tomas Sauer

Fabian Lorz

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.

Controller for a lifting device, and method for operating same

The invention relates to a method and a control device for moving a machine element of an automation machine by dividing an overall movement of the machine element into separately controlled first and a second movement sections extending in a common direction. Desired values for the first and second movement sections are monitored for compliance with a predefined movement constraint. If the first and/or second desired values fail to comply with the predefined movement constraint, the first movement component and/or the second movement component are changed in an iterative process until the changed first and/or second desired values are in compliance with the predefined movement constraint. The changed first and/or second desired values are stored as new first and/or second desired values for moving the machine element. The method and control device prevent overloading of the drive shafts of an automation machine having redundant kinematics.

Method for moving a machine element of an automation machine and a control device

In a method for moving a machine element of an automation machine with separately controlled drive shafts moving in a common direction, a first controller receives a first desired control variable, which is filtered using a filter having a frequency-dependent transfer function. In one embodiment, first desired control variable represents an overall movement of a machine element. A difference is determined between the filtered first desired variable and a first actual variable, and the difference is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft. In another embodiment, the filtered first desired variable and a second desired variable are added to form a sum, and a difference between the formed sum and the first actual variable is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft.

Growing community of inventors

Magdeburg, Germany

Marco Bock