Positioning drive and method for positioning an output element

Method for positioning of a power take-off element (16) using a positioning drive (15) having a mechanical coupling unit (18) that has a first coupling input (19), a second coupling input (20), and a coupling output (17), wherein the coupling output (17) is connected with the power take-off element (16), having a first positioning drive unit (21), which has a first positioning drive (23) connected with the first coupling input (19) and a first positioning drive controller (22), which is set up for controlling the first positioning drive (23), having a second positioning drive unit (24) that has a second positioning drive (26) drive-connected with the power take-off element (16) and a second positioning drive controller (25), which is set up for controlling the second positioning drive (26), and having a central unit (31), with the method comprising:

• transmitting a position reference signal (PS) and/or a tensioning reference signal (VS) to the central unit (31) or determining a position reference signal (PS) and/or a tensioning reference signal (VS) by the central unit (31),
• determining a first control signal (A1) for the first positioning drive controller (22) and a second control signal (A2) for the second positioning drive controller (25), as a function of the position reference signal (PS) and the tensioning reference signal (VS), by the central unit (31), to generate tensioning moments (M23, M26) in opposite directions, in each instance, in the two positioning drives (23, 26),
• transmitting the first control signal (A1) to the first positioning drive controller (22),
• transmitting the second control signal to the second positioning drive controller,
• controlling the first positioning drive (23) by the first positioning drive controller (22), as a function of the first control signal (A1) and controlling the second positioning drive (26) by the second positioning drive controller (25), as a function of the second control signal (A2), so that a tensioning state is generated in the coupling unit (17),
• measuring or estimating rotor field actual values for one or both of the first positioning drive (23) or the second positioning drive (26),
• using the measured or estimated rotor field actual values to calculate or estimate load angle actual values, and
• regulating load angle of the one or both of the first positioning drive (23) or the second positioning drive (26) based on the calculated or estimated load angle actual values.

Positioning drive (15) for positioning of a power take-off element (16), the drive comprising:

• a mechanical coupling unit (18) that has a first coupling input (19), a second coupling input (20), and a coupling output (17), wherein the coupling output (17) is connected with the power take-off element (16),
• a first positioning drive unit (21), which has a first positioning drive (23) connected with the first coupling input (19), and a first positioning drive controller (22) that is set up to control the first positioning drive (23),
• a second positioning drive unit (24), which has a second positioning drive (26) connected with the second coupling input (20), and a second positioning drive controller (25), which is set up to control the second positioning drive (26),
• a central unit (31), to which a kinematic reference value (PS) and a tensioning reference value (VS) can be provided, or in which a kinematic reference value (PS) and/or a tensioning reference value (VS) can be determined,
• wherein the central unit (31) is set up to determine a first control signal (A1) for the first positioning drive controller (22) and a second control signal (A2) for the second positioning drive controller (25), as a function of the kinematic reference value (PS) and the tensioning reference value (VS),
• wherein the first control signal (A1) and the second control signal (A2) are predetermined in such a manner to generate tensioning moments (M23, M26) in opposite directions in the two positioning drives (23, 26), when applied in each instance,
• wherein the central unit (31) is set up to transmit the first control signal (A1) to the first positioning drive controller (22) and the second control signal (A2) to the second positioning drive controller (25),
• and wherein the first positioning drive controller (22) is set up to control the first positioning drive (23) as a function of the first control signal (A1) and the second positioning drive controller (25) is set up to control the second positioning drive (26) as a function of the second control signal (A2), so that a tensioning state is generated in the coupling unit (18);
• wherein the central unit (31) is set up to set the first control signal (A1, A2), in the tensioning state, such that the power take-off element (16) is set up to carry out a sub-step position change (SUB) with a position change amount that is smaller than a position change amount that the first positioning drive (23) can perform outside of the tensioning state, and
• wherein the central unit (31) is set up to set the second control signal (A2), in the tensioning state, such that the power takeoff element (16) is set up to carry out a sub-step position change (SUB) with a position change amount that is smaller than a position change amount that the second positioning drive (23) can perform outside of the tensioning state;
• wherein to carry out a sub-step position change (SUB), stator field actual angles (ρS23,ist, ρS26,ist) or stator actual angles (φS23,ist, φS26,ist) for the positioning drives (23, 26) are changed alternately.

Positioning drive (15) for positioning of a power take-off element (16), the drive comprising:

• a mechanical coupling unit (18) that has a first coupling input (19), a second coupling input (20), and a coupling output (17), wherein the coupling output (17) is connected with the power take-off element (16),
• a first positioning drive unit (21), which has a first positioning drive (23) connected with the first coupling input (19), and a first positioning drive controller (22) that is set up to control the first positioning drive (23),
• a second positioning drive unit (24), which has a second positioning drive (26) connected with the second coupling input (20), and a second positioning drive controller (25), which is set up to control the second positioning drive (26),
• a central unit (31), to which a kinematic reference value (PS) and a tensioning reference value (VS) can be provided, or in which a kinematic reference value (PS) and/or a tensioning reference value (VS) can be determined,
• wherein the central unit (31) is set up to determine a first control signal (A1) for the first positioning drive controller (22) and a second control signal (A2) for the second positioning drive controller (25), as a function of the kinematic reference value (PS) and the tensioning reference value (VS),
• wherein the first control signal (A1) and the second control signal (A2) are predetermined in such a manner to generate tensioning moments (M23, M26) in opposite directions in the two positioning drives (23, 26), when applied in each instance,
• wherein the central unit (31) is set up to transmit the first control signal (A1) to the first positioning drive controller (22) and the second control signal (A2) to the second positioning drive controller (25),
• and wherein the first positioning drive controller (22) is set up to control the first positioning drive (23) as a function of the first control signal (A1) and the second positioning drive controller (25) is set up to control the second positioning drive (26) as a function of the second control signal (A2), so that a tensioning state is generated in the coupling unit (18);
• wherein the first control signal (A1) describes one or both of a first stator field reference angle (ρS23,soll) and a first rotor field reference angle (ρR23,soll) for the first positioning drive and the second control signal (A2) describes one or both of a second stator field reference angle (ρS26,soll) and a second rotor field reference angle (ρR26,soll) for the second positioning drive (26);
• wherein the first positioning drive controller (22) is set up to determine a first stepper signal (ST1) for the first positioning drive (23) from the first control signal (A1) and to transmit the first stepper signal (ST1) to the first positioning drive (23), in order to set for the first positioning drive (23) one or both of a first stator field actual angle (ρS23,ist) according to the first stator field reference angle (ρS23,soll) and a first rotor field actual angle (ρR23,ist) according to the first rotor field reference angle (ρR23,soll), and
• wherein the second positioning drive controller (25) is set up to determine a second stepper signal (ST2) for the second positioning drive (26) from the second control signal (A2) and to transmit the second stepper signal (ST2) to the second positioning drive (26), in order to set for the second positioning drive (26) one or both of a second stator field actual angle (ρS26,ist) according to the second stator field reference angle (ρS26,soll) and a second rotor field actual angle (ρR26,ist) according to the second rotor field reference angle (ρR26,soll);
• wherein the first positioning drive controller (22) is set up to determine a first string current for the first positioning drive (23) as a function of the first stator field reference angle (ρS23,soll), and
• wherein the second positioning drive controller (25) is set up to determine a second string current for the second positioning drive (26) as a function of the second stator field reference angle (ρS26,soll).

Positioning drive (15) for positioning of a power take-off element (16), the drive comprising:

• a mechanical coupling unit (18) that has a first coupling input (19), a second coupling input (20), and a coupling output (17), wherein the coupling output (17) is connected with the power take-off element (16),
• a first positioning drive unit (21), which has a first positioning drive (23) connected with the first coupling input (19), and a first positioning drive controller (22) that is set up to control the first positioning drive (23),
• a second positioning drive unit (24), which has a second positioning drive (26) connected with the second coupling input (20), and a second positioning drive controller (25), which is set up to control the second positioning drive (26),
• a central unit (31), to which a kinematic reference value (PS) and a tensioning reference value (VS) can be provided, or in which a kinematic reference value (PS) and/or a tensioning reference value (VS) can be determined,
• wherein the central unit (31) is set up to determine a first control signal (A1) for the first positioning drive controller (22) and a second control signal (A2) for the second positioning drive controller (25), as a function of the kinematic reference value (PS) and the tensioning reference value (VS),
• wherein the first control signal (A1) and the second control signal (A2) are predetermined in such a manner to generate tensioning moments (M23, M26) in opposite directions in the two positioning drives (23, 26), when applied in each instance,
• wherein the central unit (31) is set up to transmit the first control signal (A1) to the first positioning drive controller (22) and the second control signal (A2) to the second positioning drive controller (25),
• and wherein the first positioning drive controller (22) is set up to control the first positioning drive (23) as a function of the first control signal (A1) and the second positioning drive controller (25) is set up to control the second positioning drive (26) as a function of the second control signal (A2), so that a tensioning state is generated in the coupling unit (18);
• wherein the central unit (31) is further configured to measure or estimate rotor field actual values for one or both of the first positioning drive (23) or the second positioning drive (26), use the measured or estimated rotor field actual values to calculate or estimate load angle actual values, and effect regulation of load angle of the one or both of the first positioning drive (23) or the second positioning drive (26) based on the calculated or estimated load angle actual values.