Drive system, trajectory planning unit and method

A drive system comprising:

• a trajectory planning unit adapted to provide a trajectory signal based on a setpoint signal;
• and
• an actuator unit comprising an actuator member and adapted to control and/or regulate a position of the actuator member on the basis of the trajectory signal,
• wherein the trajectory planning unit is adapted to provide the trajectory signal with a first signal section and a second signal section, the first signal section having a straight signal form and the second signal section having a signal form asymptotic to the setpoint signal, and
• wherein the trajectory planning unit comprises:
• a planning unit input for inputting the setpoint signal;
• a planning unit output for outputting the trajectory signal;
• a retardation unit connected between the planning unit input and the planning unit output, the retardation unit being adapted to provide the trajectory signal using the retardation unit and having an integrating element;
• and
• a limiting unit connected before the integrating element, and
• wherein the retardation unit further comprises a proportional element and a subtracting element, wherein the subtracting element, the proportional element, the limiting unit and the integrating element are connected in series.

A trajectory planning unit for providing a trajectory signal for controlling and/or regulating a position of an actuator member of a pneumatic actuator unit, wherein the trajectory planning unit comprises:

• a planning unit input for inputting a setpoint signal;
• a planning unit output for outputting the trajectory signal;
• a retardation unit connected between the planning unit input and the planning unit output, the retardation unit having an integrating element;
• and
• a limiting unit connected before the integrating element,
• wherein the retardation unit further comprises a proportional element and a subtracting element, wherein the subtracting element, the proportional element, the limiting unit and the integrating element are connected in series.