| 摘要 |
A method for moving with at least three degrees of freedom, particularly in theatre area on or below a stage, a complex three-dimensional structure, which is borne by several lifting machines or the like to be driven independently, is described. Three virtual parallel reference axes are installed in the space on which, as a function of one positioning signal in each case per point of application up or down movements are made. A virtual surface is drawn by these points of application. Several independent lifting machines or the like are installed above or below this surface. A weighting is determined for each lifting machine as a function of their position compared to each reference axis, which weighting is a measure of the amount by which the running of the relevant machine is influenced by the movement of the points of application on the reference axes. The movement and speed of movement of the points of application on the reference axes are predefined as positioning signals. Partial control signals are created according to the proportions of the influence on them by the movement of the points of application via the weighting for each machine. The partial control signals for each machine are summated and fed to the individual assigned machines as an overall control signal.
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