Method and device for guiding the movement of a moveable machine element of a machine

• US 7,902,785 B2
• Filed: 09/27/2006
• Issued: 03/08/2011
• Est. Priority Date: 10/10/2005
• Status: Active Grant

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Geissdörfer, Klaus, Denk, Joachim, Schäfers, Elmar, Hamann, Jens, Wedel, Bernd
• Primary Examiner(s): Benson; Walter
• Assistant Examiner(s): Luo; David S
• Application Number:
  US12/089,770
• Publication Number:
  US 20090160389A1
• Time in Patent Office: 1,623 Days
• Field of Search: 318/573, 318/572, 318/560, 318/567, 318/569, 700/41, 700/151
• US Class Current: 318/573
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/42154 Model itself controlled by position and speed loop
• CPC Class Codes: G05B 2219/42155 Model

Abstract

The invention relates to a method for guiding the displacement of a displaceable machine element (18) in a machine, comprising the following steps: a) specification of a guide target variable (x_targ) that describes the desired displacement operation of the machine element (18); b) determination of a pilot actual variable (M_pilot) and/or a guide actual variable (x_act) from the guide target variable (x_targ) using a model (2), said model (2) comprising a path model (3), which simulates the dynamic behaviour of the elements (16, 18) involved in the displacement. The invention also relates to a device that corresponds to the method. The invention permits the optimised guidance of the displacement of a displaceable machine element (18) in a machine.

Claims

1. A method for guiding a movement of a moveable machine element of a machine, comprising the steps of:

specifying a desired reference variable describing a desired movement operation of the machine element,

determining an actual pre-control variable and an actual reference variable from the desired reference variable with the aid of a model, the model configured as a controlled system model that simulates a dynamic behavior of elements participating in the movement, and

supplying the actual pre-control variable and the actual reference variable to a control loop for controlling a motor of the machine.

2. The method of claim 1, wherein the method is carried out in real time during the movement operation of the moveable machine element.

3. The method of claim 1, wherein only mechanical properties of the elements participating in the movement are simulated for determining the dynamic behavior.

4. The method of claim 1, wherein the model is implemented as a controlled linear system model which is controlled by a linear control law.

5. The method of claim 1, further comprising the steps of modifying an output variable of the controlled system model by a feedback variable, and feeding the modified output variable back to an input variable of the controlled system model.

6. The method of claim 1, wherein the desired reference variable comprises a desired position, a desired speed or a desired acceleration.

7. The method of claim 1, wherein the actual reference variable is time-delayed before being supplied to the control loop.

8. The method of claim 1, further comprising the step of supplying a difference between the actual reference variable and a measured actual variable to a position controller in the control loop for control the motor.

9. The method of claim 1, wherein the control loop has a speed controller (13), and further comprising the steps of adding an output signal of the speed controller and the actual pre-control variable to form a sum signal, and controlling a motor current with the sum signal.

10. The method of claim 1, wherein the machine comprises a machine tool, a production machine or a robot, or a combination thereof.

11. A device for guiding a movement of a moveable machine element of a machine, the device comprising:

a unit for specifying a desired reference variable describing a desired movement operation of the moveable machine element,

a model configured as a controlled system model that simulates a dynamic behavior of elements participating in the movement, the model further configured to determine from the desired reference variable an actual pre-control variable and an actual reference variable, and

a control loop receiving the actual pre-control variable and the actual reference variable and controlling a motor of the machine.

12. The device of claim 11, wherein the control loop comprises a position controller receiving a difference between the actual reference variable and a measured actual variable for controlling the motor.

13. The device of claim 11, wherein the control loop comprises a speed controller providing an output signal, and wherein a sum formed of the output signal of the speed controller and the actual pre-control variable controls the motor current.

14. The device of claim 11, wherein the machine comprises a machine tool, a production machine or a robot, or a combination thereof.