Method of control and control structure for the movement control, pre-control and fine interpolation of objects in a speed controller clock which is faster than the position controller clock

US6611122B2 · kind B2 · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Thomas Grohmann · Meiningen, DE
• Stefan Kuenzel · Erlangen, DE
• Wolfgang Papiernik · Neunkirchen, DE
• Bernd Quaschner · Großenseebach, DE
• Guido Seeger · Baiersdorf, DE
• Johannes Welker · Dresden, DE

Key dates

• Filing date: Aug 30, 2001
• Grant date: Aug 26, 2003
• Expiry date: Feb 17, 2022

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/41437
• WIPO field: Control
• WIPO sector: Instruments

Abstract

The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.