Jerk-limitation with adaptation of the path dynamics

US6580245B2 · kind B2 · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Bernd Quaschner · Großenseebach, DE
• Theo Reichel · Forchheim, DE
• Elmar Schaefers · Nuremberg, DE
• Wilhelm Westermeyer · Wendelstein, DE
• Georg Wiegaertner · Pottenstein, DE

Key dates

• Filing date: Aug 14, 2001
• Grant date: Jun 17, 2003
• Expiry date: Aug 14, 2021

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/41166
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A critical resonant frequency (fres) of the axes of a moving machine element is damped as effectively as possible with the aid of a jerk limitation. Good damping in the case of a desired frequency is achieved when the longest possible time (TrLim) which can be traveled with a maximum permissible jerk (rLim) is selected such that 1/TrLim coincides with the lowest natural frequency (fres) of the participating axes. This finding is implemented by adapting the path dynamics such that the TrLim=aMax/rLim yielded by the prescribed dynamics limiting values is varied by reducing the maximum jerk (rLim) to achieve good damping results for the lowest natural frequency (fres) of the participating axes.