• 专利附录
  • 专利说明
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    • 专利摘要:
    In order to be able to activate a smoothing filter for a nominal value with which the movement of a drive axle (A, Ai) of a drive unit (AE) can be controlled during the movement without negative influence on the movement, it is provided that the smoothing filter (10) is connected to a Initialized to a setpoint profile (Sinit), so that a current movement phase (S0, S 0, ..., S0 (x) ) is continued continuously and the repeated time derivative (S (x + 1)) of the highest temporal derivative (S (x)) of the setpoint (S (t), S (k)) is limited.
    公开号:AT518270A4
    申请号:T50073/2016
    申请日:2016-02-05
    公开日:2017-09-15
    发明作者:Dipl Ing Dr Stefan Huber Msc；Ing Helmut Herzog Dipl
    申请人:Bernecker + Rainer Industrie-Elektronik Ges M B H；
    IPC主号:
    专利说明:

    Method for controlling the movement of a drive axle of a drive unit
    The subject invention relates to a method for controlling the movement of a drive axle of a drive unit, wherein the movement of the drive axle is controlled in a clock step by setting a target value of the movement, resulting in a movement phase of the movement of the drive axle, wherein a smoothing filter in the form of an average filter calculates the new setpoint as the mean value from past setpoints past a filter time in the past.
    Long stator linear motors are often used as flexible conveyors in manufacturing, machining, assembly, and similar facilities. A long-stator linear motor is known to consist essentially of a long stator in the form of a plurality of successively arranged drive coils and a plurality of transport units with excitation magnets (permanent magnets or electromagnets) which are moved along the long stator by the drive coils are acted upon in accordance with an electric current. The drive coils generate a moving magnetic field which cooperates with the excitation magnets on the transport units to move the transport units. By the long stator thus a conveyor line is formed, along which the transport units can be moved. This makes it possible to regulate each transport unit individually and independently of each other in their movement (position, speed, acceleration). For this purpose, each drive coil is controlled by an associated drive coil controller, which can receive instructions for moving a transport unit (for example in the form of setpoints for position or speed) from a higher-level system control unit. It can be provided along the conveyor line also switches or merging conveyor sections of the long stator linear motor. Often, the long stator is also constructed in the form of conveyor segments, each conveyor segment forming part of the conveyor line and containing a number of drive coils. In most cases, a segment regulator is provided for a conveyor segment, which regulates all drive coils of the conveyor segment. The structural design of the long stator linear motor, so e.g. the design of the drive coils, the conveyor line, the transport units, the guides of the transport unit, etc., of course, may be different, but the basic operating principle of a Langstatorlinearmotors remains the same.
    A conveying device in the form of a long-stator linear motor can certainly become complex with a plurality of transport sections, which can be interconnected by switches. This can also be a large number of transport units are moved simultaneously. Such a conveyor thus makes high demands on the control of the movement of the individual transport units.
    For example, US Pat. No. 8,863,669 B2 describes a conveying device in the form of a long-stator linear motor with a control of the transport units. Therein, the conveyor line is divided into zones, wherein a transport unit is controlled in a reference value-based zone based on a setpoint specification and is controlled in a limit-based zone by means of end position and maximum values for speed and acceleration. With limit value-based control, these specifications are converted into a motion profile with which the transport unit is moved.
    There are various ways in which the movement of a transport unit can be controlled or regulated. It would be conceivable, e.g. a gap coupling in which a slave transport unit is coupled to the movement of a master transport unit. The slave transport unit follows the master transport unit at a predetermined constant distance. Instead of a constant distance, the distance along the movement could also vary, for example in the form of a predetermined curve. Also conceivable is a movement in the form of an inverse kinematics, in which the movement of the transport unit is synchronized with the movement of another unit in space. An example of this is synchronizing a transport unit to the movement of a robotic arm that operates on a workpiece on the transport unit. Also, a position control is possible in which a control difference is specified based on which the target position is changed to compensate for the control difference to zero. An application for this could be the exercise of a process force between two transport units. However, the invention is not limited to a conveyor in the form of a Langstatorlinearmotors, but is generally for drive axles of a drive.
    In most cases, a target speed or a target position is specified for a drive axis that is to be set or started by the drive. This type of movement of a drive axle is also called target mode in a further consequence. The target speed or target position is converted in the target mode into a position profile, or equivalently also into a speed profile, which is traveled by the drive axle. A typical example of setting target speeds are cranes, where often associated with a control element, e.g. a joystick, the pivoting speed of the crane arm is controlled. In the target mode, limitations for the jerk, which is defined as the time derivative of the acceleration, are often also specified in order to reduce the load on the drive axle. For this purpose, so-called smoothing filters are often used, which limit the acceleration change (ie the jerk). Such smoothing filters are often designed as low-pass filters or as a mean value filter. In applications such as e.g. in cranes, a limitation of the time derivative of the jerk is desired.
    Of course, it would also be possible to generate motion profiles that are inherently jerk-limited. The generation of such motion profiles is very computationally intensive. In particular, in applications such as a conveyor in the form of a long stator linear motor, in which there are a variety of transport units to be moved, one quickly encounters the limits of available computing power. Therefore, in many applications only simple motion profiles are generated for a drive axis, which are subsequently jerk-limited in a smoothing filter.
    US 4,603,286 A describes a low-pass filter of higher order. However, such low-pass filters are also computationally intensive. For a conveyor with a large number of transport units, the computational complexity increases enormously, which is why such low-pass filters are hardly applicable for this application. Apart from that, low-pass filters have the property that the output of the filter only adjusts exponentially to the input, but never reaches it. This makes low-pass filter rather uninteresting for accurate control with low tracking error (deviation between setpoint and actual value).
    EP 419 705 A1 and EP 477 412 A1 each describe a jerk limitation with a simple mean value filter, which forms the mean value over a predefined number of past position specifications in order to calculate the new desired value for the position specification. Although these average value filters require little computing power, they assume that past position specifications are known in order to be able to calculate an average value from the past values. This is the case when the smoothing filter is always active, from standstill at the beginning of the movement to the end of the movement.
    However, it is possible for a smoothing filter in the form of a mean value filter to be switched on only during a movement of a drive axis, ie not from the outset, for example when a motion mode, e.g. Inverse kinematics, to the target mode is switched. In this case, an undesirable movement behavior of the drive axle occurs, depending on how the smoothing filter is initialized at the time of activation (filled with values for the past period). If the smoothing filter were simply initialized with the past setpoints, then at the time of activation, there would be a setpoint step, which would stress the drive axis controller and the components of the drive. In the worst case, the regulation could become unstable. If initialized with the setpoint at the time of activation, then a speed or acceleration jump could result, which is also undesirable and may have similar consequences.
    It is therefore an object of the subject invention to provide a method that allows it with little computational effort to control the movement of a drive axle of a Antriebssein unit by specifying setpoints, with a smoothing filter in the form of an average filter even while moving the drive axle in compliance the predetermined kinematic limits, in particular the jerk or the time change of the jerk, can be activated.
    This object is achieved by the features of claim 1. This ensures that the movement will continue even after activating the smoothing filter at the current movement phase. At the same time it can be achieved that the output of the smoothing filter is continuous and thus differentiable, whereby the repeated time derivative of the highest time derivative in the movement phase, e.g. the jerk or the temporal change of the jerk, is limited. In this way, the smoothing filter can be activated at any time, in particular during a movement of the driving axis, and not only at the beginning of the movement, without negative effects.
    Preferably, a constant function is assumed for the highest time derivative of the setpoint value for the past time interval. Thus, the computational effort for the determination of the setpoint profile for initialization can be reduced because the lower derivatives, and thus also the setpoint profile for initialization, can be easily calculated.
    It is particularly advantageous if the setpoint is updated in each clocking step and stored in a ring buffer, wherein the updated setpoint pushes the oldest setpoint value out of the ring buffer, the setpoint values stored in the ring buffer forming the setpoint profile for initializing the smoothing filter. In this way, the setpoint profile for initializing the smoothing filter is already available when the smoothing filter is active, which significantly reduces the effort and time required for initialization.
    The subject invention will be explained in more detail below with reference to Figures 1 to 8, which show by way of example, schematically and not by way of limitation advantageous embodiments of the invention. It shows
    1 shows a drive unit in the form of a conveyor as Langstatotlinearmo-tor with transport units as drive axles,
    2 shows a drive axle of a drive unit with drive axis controller and smoothing filter,
    3 a typical movement profile without smoothing filter,
    4 shows the activation of the smoothing filter without initialization according to the invention,
    5 shows an embodiment of a drive axle controller with smoothing filter,
    6 shows an initialization of the smoothing filter according to the invention,
    7 shows a typical motion profile with initialization of the smoothing filter during the
    movement and
    8 shows a ring buffer for the setpoint profile for initializing the smoothing filter.
    The smoothing filter 10 according to the invention is described below with reference to FIG. 1 without limiting the generality in connection with a transport unit TEi of a conveyor device 1 in the form of a long-stator linear motor. A transport unit TEi of the conveyor 1 is considered as a driven drive axle Ai and the conveyor 1 forms the drive unit AE. A long stator linear motor as a conveyor 1 has so many drive axles Ai as transport units TEi are moved to it.
    However, it should be noted that the smoothing filter 10 can be applied quite generally to driven drive axles A of a drive unit AE (FIG. 2), the driven drive axle A being driven by a drive axis regulator AR and setpoint values S, e.g. in the form of positions p or speed v, is regulated. The smoothing filter 10 can be implemented in the drive axis controller AR, but can also be implemented separately from it. A drive axle A of a drive unit AE moves a movable part 20 of the drive according to the predetermined setpoint values S in a possible direction of movement. Depending on the number of possible directions of movement of the drive unit AE one speaks of a single or multi-axis drive. For example, a conventional electric motor for moving a unit driven therewith in one direction (rotational or translational) is a uniaxial drive with a drive axis A of a drive unit AE. An example of this is e.g. a single-axis drive for an elevator or the pivoting drive of a crane. The sliding door of the elevator is also moved by a uniaxial drive. The drive of a work table, which can be moved in the plane by a drive unit AE in both directions, would be a biaxial drive. Similarly, a transport unit TEi, which cooperates with drive coils ASij of the conveyor 1, a drive axis Ai with direction of movement in the direction of the conveyor line 2. The transport unit TEi then represents the movable part 20.
    In Fig. 1 is an example of any structure of a conveyor 1 with a conveyor line 2 (indicated by the dashed line) shown. The conveyor 1 is designed as a long stator linear motor and there are a plurality of transport units TEi, i = 1, ..., x provided, which can be moved along the conveying path 2. The conveyor line 2 is essentially defined by the long stator of the long stator linear motor 1. In the exemplary embodiment shown, a series of conveyor segments FSi, i = 1,..., Y are provided, which define the path of the transport units TEi, that is to say the conveyor line 2. Individual conveyor sections FAi, i = 1 ..... z of the conveyor line 2 are formed by a series of juxtaposed conveyor segments FSi. The conveyor segments FSi form part of the long stator of the long stator linear motor. The conveyor segments FSi are arranged stationary in a suitable construction and as a rule also form guide elements along which the transport unit TEi can be guided. Each conveyor section FAi comprises at least one conveyor segment FSi, usually several conveyor segments FSi. Individual conveyor sections FAi or conveyor segments FSi of individual conveyor sections FAi (such as the conveyor segments FS1, FSm) may partially overlap, in particular at locations of the conveyor line 2 at which a transition from one conveyor section FAi to another conveyor section FAi (such as from Conveyor section FA1 on the conveyor section FA2) takes place. It can also be provided that sections are arranged on both sides of the conveyor line 2 conveyor segments FSi. It is also possible to provide switches W, at which (depending on the conveying direction of a transport unit TEi) two conveyor sections FAi are brought together or a division into two conveyor sections FAi takes place. It is understandable that a conveyor line 2 of almost any design can thus be formed, which also need not only be in a two-dimensional plane, but can also extend in three dimensions.
    Each conveyor segment FSi comprises a number k of drive coils ASij, j = 1 ..... k, where the number k does not have to be the same for each conveyor segment FSi. In FIG. 1, for the sake of clarity, only drive coils ASij of some conveyor segments FSi are shown. Each transport unit TEi comprises a number of excitation magnets EMij, j = 1,..., I, preferably on both sides (relative to the conveying direction indicated by the arrows on the transport units TEi) of the transport unit TEi. The drive coils ASij cooperate in the operation of the conveyor 1 in a known manner according to the motor principle with the excitation magnet EMij of the transport units TEi. If the drive coils ASij are supplied with a coil current in the area of a transport unit TEi, a magnetic flux is created which, in cooperation with the excitation magnets EMij, generates a force on the transport unit TEi. Depending on the coil current, this force can be known to comprise a propulsion force-forming and a lateral force-forming force components. The propulsion force-forming force component essentially serves for the movement of the transport unit TEi and the lateral force-forming force component can be used to guide the transport unit TEi, but also to fix the path of the transport unit TEi in a switch W. In this way, each transport unit TEi can be moved individually and independently of one another along the conveying path 2 by supplying the drive coils ASij in the region of each transport unit TEi with a corresponding coil current in accordance with the movement to be carried out.
    This basic operation of a long stator linear motor is well known, so it will not be discussed further. For the subject invention, it is also irrelevant how the transport units TEi, the conveyor segments FSi, the drive coils ASij, the excitation magnets EMij, etc. are configured constructive concrete, which is why it will not be discussed further.
    In order to control the movement of the individual transport units TEi, a transport unit controller 3 is provided, in which the setpoint values S for the movement of the transport units TEi are generated. Of course, it is equally possible to provide a plurality of transport unit controls 3, each of which may be part of the conveyor 1, e.g. a conveyor section FAi, are assigned and control the movement of the transport units TEi on this part. In addition, it is also possible to provide segment control units 4 which are assigned to a conveyor segment FSi (or also to several conveyor segments FSi or also to a part of a conveyor segment FSi) and which contain the setpoint specifications of the associated transport unit controller 3 for a transport unit TEi in manipulated variables, such as, for example, coil currents Drive coils ASij of the conveyor segment FSi Implementation. The segment control units 4 could also be implemented in a transport unit control 3. The transport unit controller 3, optionally in combination with the associated segment control unit 4, forms the drive axle controller AR of a drive axle Ai.
    As set values S, positions p, of the drive axis A, e.g. the transport units TEi, or equivalently also speeds Vj, given. This means that in each clocking step n of the control, a new setpoint value S is calculated for each drive axis A, which is adjusted by the drive axis controller AR in the clocking step n. Accordingly, a suitable controller is implemented in a drive axis controller AR which converts the setpoint specification by the setpoint values S into a suitable manipulated variable for the drive, for example into a force or a coil current as in a conveyor device 1.
    The desired path of the transport units TEi along the conveyor line 2 can also be predetermined by a higher-level conveyor control 5 in which, for example, a route calculation (which way should a transport unit TEi take ), A point arbitration (which transport unit TEi may enter a turnout ), a deadlock avoidance (eg, two transport units TEi block each other ), etc., can take place to move the transport units TEi in a desired manner along the conveyor line 2, eg to realize a manufacturing, assembly, or other process. This movement specification for the transport units TEi can be implemented in the transport unit control 3 in setpoint specifications for the transport units TEi.
    3 shows by way of example a typical movement profile for the setpoint specification for reaching a target position p (tz) using the example of a transport unit TEi as the drive axis Ai. At the beginning of the movement at t = 0, the transport unit TEi is accelerated with predetermined maximum acceleration amax until a predefined maximum speed vmax has been reached at the time ti. From this time ti, the movement is continued at a constant speed vmax, whereby the position p increases linearly. At time ti, the acceleration is abruptly set to zero from the maximum acceleration amax, causing an infinite j j. The time t2, from which the delay of the transport unit begins, is selected so that the transport unit TEi reaches the target position p (tz) with speed v = 0. Even at time t2, when switching to delay, an infinite jolt j arises. This j j j should be limited by a smoothing filter 10 in the form of a mean value filter.
    The smoothing filter 10 generally forms the arithmetic mean S of nR past setpoints S. The filter time tR is defined as tR = (nR-1) ta, with the sampling time ta,
    determines the clock step n. In each sampling time n-ta, ie in each clocking step n, a new setpoint value S is calculated. If one understands the setpoint profile as continuous-time signal S (t), smoothing filter 10 can be mathematically formulated as a convolution of setpoint signal S (t) with function B = [0, tR]:
    It can be seen that for the calculation of the mean value S values of the setpoint signal S (t) of the past time period tR are required. If the smoothing filter 10 were switched on at time tine (FIG. 4), the setpoint signal S (t) would consequently not be continued with the current setpoint value So, but with being what the mean value S of the past by the filter time tR Setpoint signal S (t) corresponds. If there is no past setpoint signal S (t <tein), the jump would be even clearer because then typically S (t <tein) = 0 is assumed. Often also S (t <tein) = S0 is assumed, but this equates to a kink in the setpoint profile, which leads to a jump in the time derivative S of the setpoint S, which is undesirable because the movement would not be continued steadily. This makes it clear that activating a conventional smoothing filter 10 as a mean value filter during a movement is problematic or not readily possible.
    The smoothing filter 10 is implemented, for example, in the transport unit controller 3, generally in a drive axle controller AR (FIG. 5). In the drive axle controller AR or in the transport unit control 3, in a movement profile unit 11, a movement destination Z, e.g. a target position pz or a target speed vz, a setpoint specification, in the form of a time sequence of setpoint values S (t), generated. The movement profile unit 11 ensures compliance with limit values for time derivatives S, S, S of the setpoint value S (t), such as a maximum permissible speed vmax, a maximum permissible acceleration amax or a maximum permissible jerk max. The motion profile unit 11 preferably also ensures a steady course of the setpoint value S (t), e.g. the position p (t) or the velocity v (t). The movement target Z is thus converted in the movement profile unit 11 in compliance with predetermined limit values into a steady course of the setpoint values S (t). For example, a position jump for specifying a new target position pz is converted into a position and velocity profile as shown in FIG.
    Of course, it is equally conceivable that the setpoint values S (t) are directly predefined to the drive axis controller AR and are not determined in a motion profile unit 11.
    A mean value filter has a smoothing effect, i. it increases the derivability of the setpoint value S (t) by one order. If an input signal to the mean value filter was a twice continuously differentiable function, then the output from the mean value filter is a three times continuously differentiable function. This is exactly the effect to be achieved with the smoothing filter 10. If the input to the smoothing filter 10 is e.g. the position signal p (t) according to FIG. 3, this position signal p (t) is once continuously differentiable (velocity v = p) but not twice continuously differentiable (acceleration a = p), since the acceleration a (t) is not continuous Function is. However, if the position signal p (t) is averaged, then the averaged position signal p is twice continuously differentiable, so also the acceleration a (t) is a continuous function. Subsequently, the time derivative of the continuous acceleration a (t), ie the jerk j = p, is then limited and not infinite, as in FIG.
    The x times continuously differentiable setpoint values S (t) are accordingly converted in the following smoothing filter 10 to x + 1 times continuously differentiable setpoint values S (t) and output as output. It is the smoothing filter 10 no matter which setpoint S (t) is applied to the input. If a position signal p (t) or speed signal v (t) is applied to the input of the smoothing filter 10 as the setpoint value S (t), then a jerk-limited setpoint value S is obtained at the output of the smoothing filter Smoothing filter 10 as setpoint S (t) a once continuously differentiable velocity profile corresponding to the position signal p (t) in Fig.3 is applied, then one receives at the output
    Setpoint S whose twice the time derivative, ie the time derivative of the j j, is continuous. This would limit the time derivative of the j j, which is often required for cranes.
    Generally speaking, the output of the smoothing filter 10 as a mean value filter is continuous in the case of an expected finite input signal and thus has no particular significance
    Jumps on. In this case, an average setpoint value S (t) is calculated in each clocking step n.
    The procedure according to the invention for initializing the smoothing filter 10 during activation during a movement of the drive axis A is described below for easier understanding in the time domain and for a typical movement phase (S, S, S) of the movement of the drive axis A.
    At the time tein the activation of the smoothing filter 10 is a current movement phase (S0, S0, S0), where S0 the setpoint S (t) at the current time ί0, η denotes. in the
    Example of a position signal p (t) as setpoint S (t) results as the first time derivative, the speed v (t) and as a second time derivative, the acceleration a (t) and thus a current movement phase (p0, v0, a0), where po is the current position, v0 is the current speed and a0 is the current acceleration. In order to be able to activate the smoothing filter 10 also during the movement, the smoothing filter 10 is inventively initialized in order to achieve the activation of the current movement phase (S0, S0, S0) and a limitation of the third time derivative of the setpoint value S (t). In the example of the position signal p (t) as a setpoint S (t), this results in a limitation of the j j.
    When activating the averaged setpoint S (t) as an output signal of the smoothing filter 10 (Figure 5) the current motion phase (S0, S0, S0) completely independent of the setpoint signal S (t) for t> tem steadily, ie without jump and compliance the kinematic limits. For this purpose, the smoothing filter 10 is filled with a setpoint profile S, nit for the time interval [tein-tR, tein] lying around the filter time tR in the past, so that the properties S (t, ") = S0> i (t.") = S0, l (tÄ) = S0 are satisfied.
    In the simplest case, twice the time derivative of the setpoint value S (t) for the time interval [tein-tR, tein] is set equal to the current value of the dual derivative of the setpoint value S0 of the current movement phase (S0, S0, S0), ie S (t ) = S0. As a result, for the mean value at the time t1 of activating the smoothing filter 10, S (tei31) = S0 immediately results, thus satisfying a part of the above requirement. From S (t) = S0, S (t) = S (tein) + S0t is obtained directly for the simple derivative S (t) of the setpoint value S (t) before time t, whereby from the given condition S (tein) = S0 follows that
    is. This results
    In turn, the setpoint value S (t) becomes S (t) = S (tein) + S (tein) t + - ^ - t2, where it follows from the given condition S (tein) = S0 that
    is. If one sets everything in, one finally obtains the sought past setpoint signal S (t) for t = [tein-tR, tein], which corresponds to the setpoint value profile Sinit for initializing the smoothing filter 10
    In the case of the position signal p (t) as the setpoint value S (t), the position signal p (t) then results for the time interval [tein -Ir, tein] ZU, for example
    Of course, another approach can be chosen instead of S (t) = S0, as long as
    is respected and the movement is under
    Compliance with the specified kinematic limits is steadily continued. For S (t) for the time interval [tem-tR, tem] it is therefore also possible to choose another suitable function f, the mean value corresponding to the current value S0 of the two-fold derivative. The function f must therefore be time-integratable in the time interval [tem-tR, tem].
    Here again, it should be emphasized that S (t) above is merely the setpoint profile Smit with which the smoothing filter 10 is initialized for the past time interval [tein-tR, tein]. The movement is continued continuously for the time t> tem on the basis of the setpoint values S (t) predefined in the drive controller AR while maintaining the kinematic limits, with the current movement phase (S0, S0, S0) being set.
    This is illustrated in Fig. 6, wherein the smoothing filter 10 has been initialized for the time interval [tein-tR, tem] with the respective values at the sampling timings ta. This is e.g. the movement of the transport unit TEi continuously continues at the time tein the activation of the smoothing filter 10. In the case of a position p (t) as setpoint S (t) results, e.g. an acceleration-constant output of the smoothing filter 10, whereby jerk j is limited. In the case of a speed v (t) as set value S (t), e.g. analogously to a ruckstetiger output of the smoothing filter 10, whereby the change of the j j is limited.
    The effect of the smoothing filter 10 is shown in FIG. 7 as the reference value S (t) using the example of a position signal p (t). At the beginning, a motion profile according to FIG. 3 is generated again. At time tein, the smoothing filter 10 is activated. The current movement phase (po, v0, a0) continues after activation. At time t2, the transport unit TEi is again delayed, whereby now the smoothing filter 10 intervenes and the acceleration a steadily lowers to the maximum delay -amax, whereby the resulting jerk j is limited. It can further be seen from FIG. 7 that a smoothing filter 10 gives a time delay around the filter time tR, that is to say that the desired target position is reached later than the filter time tR (compared to FIG. 3 without smoothing filter 10).
    The above time-continuous consideration can still be discretized, which is advantageous for implementation in a digital drive controller AR. The continuous-time signals become finite sequences and the folds are replaced by arithmetic means. Instead of the time interval [tem-tR, tein] an index k e {no-nR + 1, ..., no} is now considered. Otherwise, the approach described above remains the same, ie S (no) = S0, S (no) = S0, S (no) = S0. S (k) = S0 gives the first time derivative
    from the condition
    , The setpoint sequence S (k) then results in
    from the condition
    In the case of a position signal p (t) as setpoint S (t), the position signal p (k) for the past {no-nR + 1, ..., no} then results
    from the
    condition
    The smoothing filter 10 can therefore be initialized without knowing the past movement profile only from the current movement phase (S0, S0, S0), so that the movement is continued continuously at the current movement phase (S0, S0, S0).
    The invention has been described above with a movement phase (S0, S0, S0) with three parts of movement, namely S0, S0, S0. Of course, however, the invention can also be generalized to other phases of movement, with the desired value S and time derivatives thereof, with more or less movement parts. If, for example, a movement phase (S0, S0) with two parts of motion, for example the position p as the setpoint S and the speed v as the time derivative, is used, then the above applies analogously. Likewise in the case with more than three movement shares. The approach according to the invention can therefore be based on an arbitrary motion phase (S, S,..., S (x)) with the highest temporal derivative as follows
    , with the positive integer xeO, generalizes who.
    In general, for the initialization of the smoothing filter 10 for the highest time derivative of the setpoint value S (x) in the motion phase (s, S, S (x)) for the past time interval [tein-tR, tein] or {no-nR + 1 ..... no} a function f (t), f (k), eg a constant function f = const., suppose (S (x) = f), whose mean value f over the past time interval [tem-tR, tein] or {no-nR + 1 ..... no} at the time tein or no activation of the smoothing filter 10 current value So (x) corresponds to the highest time derivative, ie f = S0 (x). The
    Function f must therefore be time-integratable in the time interval [tein-tR, tein] or {no-nR + 1 ..... no}. The lower time derivatives x = {0,1 ..... x-1} of the motion phase (s, S, ..., S (x)) then result from the necessary condition
    to be able to continue the movement after activation. From this, the setpoint value profile Sinitzum Initializing the smoothing filter 10 for the time interval [tem-tR, tein] or {no-nR + 1, ..., no} can be determined. By definition, the zeroth time derivative is the setpoint S itself.
    The initialization of the smoothing filter 10 when activated with the sequence {p (kem-nR + 1) ..... p (no)} requires computing time proportional to nR, ie 0 (nR). The calculation of the output of the smoothing filter 10 in each clocking step also takes 0 (nR) time. Thus, the computational effort for the smoothing filter 10 is very low. This cost can even be reduced to 0 (1) by continuously updating the setpoint S (k) in the sequence Sinit for initialization in each clocking step n instead of calculating the whole sequence upon activation of the smoothing filter 10. For this purpose, a ring buffer 20 can be guided, in which nR memory locations are present and the respectively new value of S (k) of the sequence Sinit shifts the oldest value of S (k-nR) out of the ring buffer 20, as indicated in FIG. The ring buffer 20 is implemented, for example, in the smoothing filter 10 or in the drive controller AR. It should again be noted that the setpoint value S (k) of the sequence Sinit does not correspond to the current setpoint value S for moving the drive axis A, Ai.
    The value of the repeated time derivation S (x + 1) of the highest time derivative S (x) of the setpoint value S in the movement phase (s, S,..., S (x)) is determined by the smoothing filter 10 at each time t> tein or k> kem limited. In the example of a movement phase (p, v, a), therefore, the time derivative of the acceleration a, that is, the j j, would be limited by the smoothing filter 10. Assuming S (x) max = - S (x) min, the maximum value of the repeated derivative of time is given
    , or in the continuous-time case
    , In the case of acceleration a as the highest time derivative S <x) in the motion phase, the j j would j with
    , or in the continuous-time case with
    limited.
    权利要求:
    Claims (3)
    [1]
    claims
    1. A method for controlling the movement of a drive axle (A, Ai) of a drive unit (AE), wherein the movement of the drive axle (A, Ai) in a clock step (s) by specifying a desired value (S (t), S (k )) of the movement, whereby a movement phase ((S (t), S (t), S (t) (x)), (S (k), S (k), S (k) (x) )) of the movement of the drive axle (A, Ai), wherein a smoothing filter (10) in the form of an average filter the new setpoint value as an average value (S (t), S (k)) from the by a filter time (tR, nR) in past setpoint values (S (t), S (k)), characterized in that the smoothing filter (10) during the movement with a current movement phase ((s0, s0> ..., s ")) to a Time (tein> 0, no> 0) is activated, that for the highest time derivative (S (t) (x), S (k) (x)) of the setpoint (S (t), S (k)) of Movement phase ((S (t), S (t), S (t) (x)), (S (k), S (k), S (k) (x))) for the elapsed time interval ([t tR, tein], {no-nR + 1, ..., no}) e a function (f (t), f (k)) whose mean value (f) over the past time interval ([tein-tR, tein], {no-nR + 1 ..... no}) is assumed to be the Time (tine, no) of activation of the smoothing filter (10) current value (So <x)) of the highest time derivative (S (t) (x), S (k) (x)) corresponds to the lower temporal Derivatives ((S (t), S (t), S (t) (x_1)), (S (k), S (k), S (k) (xl))) of the setpoint value (S (t), S (k)) for the past time interval ([tein-tR, tein], {no-nR + 1, ..., no}) from the condition that the mean values (| s, S, S (x υ j) the lower time derivatives of the setpoint value (S (t), S (k)) over the past time interval ([tejn-tR, tein] j {no -nR + 1, ..., no}) respectively at the time (tein, none) the activation of the smoothing filter (10) current values ((so, S0, S0 (x_1))) of the lower time derivatives of the setpoint (S (t), S (k)) correspond and that the smoothing filter (10 ) when activating for the past time interval ([tein -tR, tein], {no-nR + 1, ..., no}) with the determined setpoints (S (t), S (k)) for this past time interval ([tein-tR, tein], {kem -nR + 1, ..., none}) is initialized as the setpoint profile (sinit).
    [2]
    2. The method according to claim 1, characterized in that for the highest time derivative (S (t) (x), S (k) (x)) of the desired value (S (t), S (k)) for the past time interval ([tein-tR, tein], {no-nR + 1, ..., no}) a constant function (f (t), f (k)) is assumed.
    [3]
    3. The method according to claim 1 or 2, characterized in that the setpoint value (S (k)) of the setpoint profile (Sinit) is updated in each clocking step (s) and stored in a ring buffer (20) with nR memory locations, wherein the updated Setpoint value (S (k)) pushes the oldest setpoint value (S (k-nR)) out of the ring buffer (20), whereby the setpoint values (S (k-nR, S (k)) stored in the ring buffer (20) Sinit) to initialize the smoothing filter (10).
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    同族专利:
    公开号 | 公开日
    CA2956753A1|2017-08-05|
    EP3203337B1|2019-05-15|
    EP3203337A2|2017-08-09|
    EP3203337A3|2018-01-17|
    AT518270B1|2017-09-15|
    US20170229991A1|2017-08-10|
    US9882520B2|2018-01-30|
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    EP3599126B1|2018-07-25|2021-11-10|B&R Industrial Automation GmbH|Method for operating a long-stator linear motor with switch|
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    法律状态:
    2018-03-15| HC| Change of the firm name or firm address|Owner name: B&R INDUSTRIAL AUTOMATION GMBH, AT Effective date: 20180205 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50073/2016A|AT518270B1|2016-02-05|2016-02-05|Method for controlling the movement of a drive axle of a drive unit|ATA50073/2016A| AT518270B1|2016-02-05|2016-02-05|Method for controlling the movement of a drive axle of a drive unit|
    EP17153690.7A| EP3203337B1|2016-02-05|2017-01-30|Method for controlling the movement of a drive axle of a drive unit|
    CA2956753A| CA2956753A1|2016-02-05|2017-01-31|Method for controlling the movement of a drive axis of a drive unit|
    US15/424,027| US9882520B2|2016-02-05|2017-02-03|Method for controlling the movement of a drive axis of a drive unit|
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