Trajectory planning unit, valve arrangement and method

A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value, the limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value, wherein the trajectory planning unit is adapted to provide the trajectory in accordance with at least one specification value which can be specified, the specification value comprising a velocity initial value, a velocity final value, an acceleration initial value and/or an acceleration final value, and

• wherein the trajectory planning unit is adapted to check whether the final position value contained in the target position curve can be satisfied together with the least one specification value, and wherein the trajectory planning unit is further adapted to provide, in the case where the trajectory planning unit comes to the check result that this is not possible, an auxiliary trajectory which satisfies the final position value and does not satisfy the at least one specification value.

A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value, the limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value, wherein the trajectory planning unit is adapted to provide the trajectory in accordance with at least one specification value which can be specified, the specification value comprising a velocity initial value, a velocity final value, an acceleration initial value and/or an acceleration final value, and

• wherein the trajectory planning unit is adapted to, in order to provide a creepage distance, provide the trajectory with a trajectory final position value which is offset in the direction towards an initial position value with respect to a final position value contained in the target position curve.

A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value, the limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value, wherein the trajectory planning unit is adapted to provide the trajectory in accordance with at least one specification value which can be specified, the specification value comprising a velocity initial value, a velocity final value, an acceleration initial value and/or an acceleration final value, and

• wherein the trajectory planning unit is adapted to provide a first trajectory and a second trajectory following the first trajectory and to use the final velocity value and/or final acceleration value of the first trajectory as the initial velocity value and/or initial acceleration value of the second trajectory.

A valve arrangement comprising a carrier body and a plurality of plate-shaped valve modules arranged in a row on the carrier body and a control module arranged on the carrier body, which control module comprises a trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value, the limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value, wherein the trajectory planning unit is adapted to provide the trajectory in accordance with at least one specification value which can be specified, the specification value comprising a velocity initial value, a velocity final value, an acceleration initial value and/or an acceleration final value, and

• wherein the trajectory planning unit is adapted to provide a first trajectory and a second trajectory following the first trajectory and to use the final velocity value and/or final acceleration value of the first trajectory as the initial velocity value and/or initial acceleration value of the second trajectory.

A method for operating a trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value, the limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value, wherein the trajectory planning unit is adapted to provide the trajectory in accordance with at least one specification value which can be specified, the specification value comprising a velocity initial value, a velocity final value, an acceleration initial value and/or an acceleration final value, the method comprising the step of:

• providing the trajectory on the basis of the target position curve, the at least one limit value and the at least one specification value, and
• wherein the trajectory planning unit is adapted to provide a first trajectory and a second trajectory following the first trajectory and to use the final velocity value and/or final acceleration value of the first trajectory as the initial velocity value and/or initial acceleration value of the second trajectory.