B&r Industrial Automation Gmbh

Thomas J Frauscher

Ralf Skotschek

Andreas Stöger

Martin Staudecker

Hubert Rams

An improved method for controlling a lifting device, which moves a load along a first movement direction and along a second movement direction within a specified working area of the lifting device from a starting point to an end point. Individual movements are planned for the first movement direction and for the second movement direction, by which the load is moved further along the movement directions and brought to a newly specified end point.

Trajectory planning with flexible replanning functionality—changed end point

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

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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Eggelsberg, Austria

Thomas J Frauscher