Method for numerical position control of motor-driven shafts

US4906908A · kind A · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Wolfgang Papiernik · Neunkirchen, DE
• Thomas Baer · Erlangen, DE
• Gerhard Kirchner · Munich, DE

Key dates

• Filing date: Sep 23, 1988
• Grant date: Mar 6, 1990
• Expiry date: Sep 23, 2008

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B19/186
• WIPO field: Control
• WIPO sector: Instruments

Abstract

In a method for numerical position control of motordriven shafts whose rotations are to be synchronous with one another under a certain transmission ratio a control loop is provided for each shaft. A speed setpoint, weighted with the corresponding transmission ratio, is applied as a position setpoint per unit of time simultaneously to the control loops of the respective shafts. If the actual speeds of the shafts differ from one another due to a disturbance within the controlled system, the difference between these actual speeds is used to readjust the speed and the position within the speed controlled section of one of the control loops. Overshoot of the position of a shaft, which might be caused by direct adding of the position setpoint onto the speed control loop is avoided by the fact that a control element produces a delay having the time response corresponding to a delay introduced by the respective control section for speed and adds this delay to the position setpoint prior to integration (14 to 17, 24 to 27).