Overdetermined Lifting Controller for Precise Multi-Cable Positioning
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Solution Overview
Problem
Lifting devices, such as cranes, face challenges in achieving precise and efficient movement of loads due to limitations in controlling cable-driven systems, which often require additional mechanical components and result in suboptimal energy usage and positioning accuracy.
Innovation Solution
A controller for lifting devices that employs kinematic transformations to control multiple electric drives, allowing for closed-loop control of spatial position and orientation, optimizing cable forces through feedforward control and minimizing maximum cable force, thereby improving the operational efficiency and accuracy of lifting operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional cable-driven lifting systems are used, then the mechanical structure is simple, but the positioning precision and control accuracy are insufficient
Solution Approach 1:
The patent replaces traditional mechanical positioning mechanisms with an electric drive system controlled by a controller that performs kinematic transformations. The controller calculates drive commands based on desired load position and orientation, transforming complex spatial control into simplified motor control operations, thereby achieving high positioning precision without complex mechanical structures.
Solution Approach 2:
The patent changes the control parameters from direct mechanical control to electric drive control with kinematic transformations. The controller uses transformation matrices to convert desired load pose parameters into drive motor parameters, enabling precise control of load position and orientation through parameter optimization rather than mechanical complexity.
2Ease of operation
If additional mechanical components are added to improve control, then the control capability is enhanced, but the energy consumption increases
Solution Approach 1:
The patent substitutes mechanical control components with an electric drive system that uses software-based kinematic transformations for control. This electronic control approach provides enhanced control capability while consuming less energy compared to additional mechanical components, as electric motors with software control are more energy-efficient than mechanical linkages and actuators.
Solution Approach 2:
The patent optimizes energy consumption by changing from mechanical control parameters to electric drive parameters. The controller calculates optimal drive commands that minimize energy usage while achieving the desired control capability, using parameter optimization in the control software rather than adding energy-consuming mechanical components.
3Adaptability or versatility
If multiple cables are used to control load position and orientation, then the control versatility is improved, but the cable force distribution becomes complex
Solution Approach 1:
The patent replaces complex mechanical cable force distribution systems with an electric drive system controlled by kinematic transformations. The controller automatically calculates the optimal force distribution across multiple cables through software algorithms, providing control versatility without the complexity of mechanical force balancing mechanisms.
Solution Approach 2:
The patent simplifies cable force distribution by changing from direct mechanical force control to electric drive control with kinematic parameter transformations. The controller uses transformation matrices to automatically optimize cable force parameters, converting the complex multi-cable force distribution problem into simplified motor control parameters that are easier to manage and optimize.
4Productivity
If conventional lifting control methods are used, then the system is easy to operate, but the operational efficiency and accuracy are suboptimal
Solution Approach 1:
The patent replaces conventional mechanical control methods with an electric drive system featuring automated kinematic transformations. This substitution improves operational efficiency through precise, automated control while maintaining ease of operation, as the controller handles the complexity of transformations automatically without requiring complex user input or manual adjustments.
Data Source
AI summary
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.