Operation of a multi-axis system
AssigneeABB Schweiz AG
InventorJoachim Weißbacher
Life of this patent
Estimating the term…
Abstract
In order to provide an optimized multi-axis system having mechanically coupled axes, a feedforward control identification process is provided, during which actual identification variables occurring in each case at the motor are each provided to identification units associated with the feedforward controllers, wherein feedforward control parameters are identified using the actual identification variables, and closed-loop controllers are parameterized using the feedforward control parameters.
Claims19
A method for operating a multi-axis system having a plurality of basic axes and at least one drive axis which is mechanically coupled to the basic axes at coupling points, the positions of the coupling points on the basic axes being changeable by an associated motor in order to move the drive axis in relation to the basic axes, a closed-loop controller associated with the motors, and a feedforward controller associated with each of the motors, the method comprising:
- determining, via the closed-loop controller, control input variables from specified setpoint variables and from associated corresponding actual variables occurring at the motor;
- providing said control input variables to the motors in order to control the corresponding actual variables in accordance with the specified setpoint variables;
- determining, via the feedforward controller, a feedforward control value based on the associated specified setpoint variable;
- and
- superimposing said feedforward control value on the associated control input variable,
- wherein a feedforward control identification process is provided, during which actual identification variables occurring on each motor are each provided to identification units associated with the feedforward controllers, feedforward control parameters being identified using the actual identification variables, and
- wherein the feedforward controllers are parameterized using the feedforward control parameters.
A multi-axis system comprising:
- a plurality of basic axes;
- a drive axis, the drive axis being mechanically coupled to the basic axes at coupling points, wherein each position of the coupling points on the basic axes are changeable by an associated motor in order to move the drive axis in relation to the basic axes;
- closed-loop controllers which are each associated with the motors that are designed to determine control input variables from specified setpoint variables and from associated corresponding actual variables occurring at the motor and to provide said control input variables to the motors in order to control these corresponding actual variables in accordance with the setpoint variables;
- feedforward controllers which are each associated with the basic axes that are designed to determine feedforward control values from the setpoint variables and to superimpose said values on the control input variables,
- wherein identification units are provided which are each associated with the basic axes and are each designed to identify feedforward control parameters using actual identification variables occurring at the motor and to parameterize the feedforward controllers using the feedforward control parameters.
Dependencies are inferred from the claim text.