Identification of model parameters for a manufacturing machine, and use thereof for determining optimised trajectories

A method for operating a manufacturing machine system comprising a manufacturing machine having at least one axis with a position-controlled drive by which at least a first machine element is adjustable relative to a second machine element and a control facility, the method comprising:

• storing in the control facility at least a maximum movement range and a maximum movement speed for the at least one axis and a maximum electrical power that is suppliable to the drive of the at least one axis as boundary conditions for at least one identification run;
• and
• by the control facility:
• determining or receiving a maximum acceleration and/or a maximum jerk for the at least one Identification run;
• determining a travel profile for the at least one identification run in compliance with the boundary conditions and the maximum acceleration and the maximum jerk for the at least one identification run;
• performing the at least one identification run according to the ascertained travel profile;
• ascertaining a current supplied to the drive during the at least one identification run;
• ascertaining at least one actual kinematic variable during the at least one identification run;
• ascertaining at least one model parameter of at least one model of the at least one axis in dependence on the ascertained current and the at least one actual kinematic variable;
• ascertaining a current limit and/or torque limit of the drive in dependence on a rotational speed of the drive;
• ascertaining at least one trajectory of the at least one axis optimized with respect to a minimum travel time or a maximum acceleration or a minimum energy loss on the basis of the at least one model parameter and the ascertained current limit and/or torque limit;
• and
• operating the manufacturing machine system according to the at least one model parameter.