B&r Industrial Automation Gmbh

Ralf Skotschek

Thomas J Frauscher

Martin Staudecker

Andreas Stöger

Ulrich Anschuber

Lukas Stefan Rappel

Method and parameterization unit for parameterization of a tractive force controller of a controlled roller of a web-processing machine, the tractive force controller controlling a speed of the controlled roller in order to transport a material on the web-processing machine from the controlled roller to a further roller or from a further roller to the controlled roller at a line speed and while being subjected to the tractive force. The method includes, during a standstill test at a line speed of zero, increasing the tractive force to an identification tractive force, preferably 90% of a predetermined standstill tractive force operating point, to determine standstill system parameters of the tractive force system, to calculate standstill controller parameters of the tractive force controller from the standstill system parameters of the tractive force system, preferably by a frequency characteristic method, and to parameterize the tractive force controller using the standstill controller parameters.

Parameterization of a tractive force controller

In order to eliminate control problems caused by a manipulated variable limitation in the oscillation control of an oscillatable technical system, a restriction of at least one time derivative of the manipulated variable (u) in a control law for calculating the manipulated variable (u) is taken into account.

Method and oscillation controller for compensating for oscillations of an oscillatable technical system

Method for controlling a lifting device to move a load along a trajectory, to move the load in an efficient, automated, and collision-free manner between points, includes a start point and end point of the trajectory and prohibited zones are established which, during motion of the load are avoided. A computing unit calculates a geometric or rounded geometric or smooth geometric path, that kinematic and geometric limit values of the lifting device are predetermined, from which the computing unit, on the basis of the geometric or rounded geometric or smooth geometric path, calculates a dynamic or rounded dynamic or smooth dynamic path which provides time information about motion of the load along the geometric or rounded geometric or smooth geometric path. The geometric or rounded geometric or smooth geometric path and the dynamic or rounded dynamic or smooth dynamic path are combined for producing the trajectory.

Method for controlling a lifting device

A method for damping rotational oscillations of a load-handling element of a lifting device is created, wherein at least one controller parameter is determined by a rotational oscillation model of the load-handling element as a function of the lifting height (l) and wherein, to damp the rotational oscillation of the load-handling element at any lifting height (l), the at least one controller parameter is adapted to the lifting height (l).

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Steyr, Austria

Ralf Skotschek