| 摘要 |
A system for controlling the orientation of a hanging load, the system comprising a lifting frame (20) being connectable to a load to be lifted, on which lifting frame two or more flywheel units (9) are arranged, the flywheel units (9) each comprising a flywheel (10) rotary arranged in a gimbal (11) which again is rotary arranged in a gimbal support (15) along an axis of rotation (6) being perpendicular to the axis of rotation (8) of the flywheel (10), where an electric motor (12) is arranged for rotating the flywheel (10), and a tilting motor (13) is arranged to tilt the gimbal by rotating the gimbal about its axis of rotation (6), wherein the system further comprises a control unit for individually controlling the speed and the direction of rotation of the flywheels, and the tilting of the gimbals, the control system being adopted for re-initialization of a flywheel units (9) either by reducing the speed of rotation fully or partly, tilting the gimbals to a new starting position, and spinning up the flywheels again; or by stopping the flywheels and spinning up the flywheels in the opposite direction. |
