Controller structure for mixed direct/indirect driving of a machine element

A control device for controlling a first drive operating directly on a machine element and a second drive operating on the machine element via a speed-changing device, said control device comprising:

• a controller structure comprising a position controller, which receives at a position-control clock pulse a position setpoint value and a position actual value of the machine element, determines a speed setpoint value for the machine element based on the position setpoint value and the position actual value, a first determination device, which receives the speed setpoint value and determines therefrom a resulting speed setpoint value as an output signal, a first speed controller, which receives at a first speed-control clock pulse from the first determination device the resulting speed setpoint value and a speed actual value of the machine element, and determines based on the resulting speed setpoint value and the speed actual value of the machine element a first force setpoint value for the first drive, and controls the first drive depending on the first force setpoint value, and a second speed controller, which receives at a second speed-control clock pulse from the first determination device the resulting speed setpoint value and a second speed actual value of the second drive, determines therefrom a second force setpoint value for the second drive, and controls the second drive depending on the second force setpoint value, and
• a higher-ranking control device specifying, with a position-control clock pulse, to the controller structure position setpoint values of the machine element.

A machine, comprising:

• a machine element;
• a speed-changing device;
• a first drive operating directly on a machine element;
• a second drive operating on the machine element via the speed-changing device;
• and
• a control device comprising a controller structure comprising a position controller, which receives at a position-control clock pulse a position setpoint value and a position actual value of the machine element, determines a speed setpoint value for the machine element based on the position setpoint value and the position actual value, a first determination device, which receives the speed setpoint value and determines therefrom a resulting speed setpoint value as an output signal, a first speed controller, which receives at a first speed-control clock pulse from the first determination device the resulting speed setpoint value and a speed actual value of the machine element, and determines based on the resulting speed setpoint value and the speed actual value of the machine element a first force setpoint value for the first drive, and controls the first drive depending on the first force setpoint value, and a second speed controller, which receives at a second speed-control clock pulse from the first determination device the resulting speed setpoint value and a second speed actual value of the second drive, determines therefrom a second force setpoint value for the second drive, and controls the second drive depending on the second force setpoint value;
• and a higher-ranking control device specifying, with a position-control clock pulse, to the controller structure position setpoint values of the machine element.