Method for operating an electric or fluidic actuator using a monitoring means for outputting a fault signal and movement controller for an actuator

A movement controller for an actuator, comprising an input interface, configured to receive a setpoint position, with a drive interface, configured to provide a power flow to an actuator and for receipt by a position sensor associated with the actuator, with a computing unit, the computing unit being in the form of a microprocessor with memory and configured to process the setpoint position in a control signal and with a power amplifier arrangement, configured to provide the power flow to the drive interface as a function of the control signal, wherein the computing unit is configured to:

• provision of the setpoint position to a path planning unit and calculation of movement values (xd(t), x′d(t), x″d(t), x″′d(t)) from the setpoint position;
• provision of the movement values (xd(t), x′d(t), x″d(t), x″′d(t)) by the path planning unit to an open-loop control means and a closed-loop control means, the movement values being values selected from the group consisting of:
• a position of the actuator;
• a velocity of the actuator;
• an acceleration of the actuator;
• a jolt of the actuator;
• calculation of a first manipulated variable component dependent on the movement values (xd(t), x′d(t), x″d(t), x″′d(t)) in the open-loop control means;
• calculation of a second manipulated variable component dependent on the movement values (xd(t), x′d(t), x″d(t), x″′d(t)) and on position signals of a position sensor assigned to the actuator in the closed-loop control means;
• combining of the first and the second manipulated variable component in a control unit;
• and
• provision of a control signal resulting from the manipulated variable components to the actuator,
• wherein a monitoring means performs a monitoring of at least one of the first manipulated variable component from the open-loop control means and the second manipulated variable component from the closed-loop control means, and provides a fault signal if the monitored manipulated variable component exceeds a predefined threshold component at the control signal.

A method for operating an electric or fluidic actuator for which a setpoint position is predefined, the method comprising:

• provision of a computing unit to the electric or fluidic actuator, the computing unit being configured as an application specific integrated circuit (ASIC) comprising a path planning unit, a monitoring means, an open-loop control means, a closed-loop control means and a control unit;
• provision of the setpoint position to the path planning unit and calculation of movement values (xd(t), x′d(t), x″d(t), x″′d(t)) from the setpoint position, the movement values being values selected from the group consisting of:
• a position of the actuator;
• a velocity of the actuator;
• an acceleration of the actuator;
• a jolt of the actuator;
• provision of the movement values (xd(t), x′d(t), x″d(t), x″′d(t)) by the path planning unit to the open-loop control means and the closed-loop control means;
• calculation of a first manipulated variable component dependent on the movement values (xd(t), x′d(t), x″d(t), x″′d(t)) in the open-loop control means;
• calculation of a second manipulated variable component dependent on the movement values (xd(t), x′d(t), x″d(t), x″′d(t)) and on position signals of a position sensor assigned to the actuator in the closed-loop control means;
• combining of the first and the second manipulated variable component in the control unit;
• and
• provision of a control signal resulting from the manipulated variable components to the actuator,
• wherein the monitoring means performs a monitoring of at least one of the first manipulated variable component from the open-loop control means and the second manipulated variable component from the closed-loop control means, and provides a fault signal if the monitored manipulated variable component exceeds a predefined threshold component at the control signal.