Method for adapting jerk profiles through jerk limitation for minimizing excitations of oscillations during movement of a machine element
AssigneeSiemens Aktiengesellschaft
InventorsJens Hamann, Uwe Ladra, Elmar Schafers
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Abstract
The excitation of an oscillation in a mechanical system, such as a machine element, subjected to a jerk can be suppressed or at least attenuated by rounding a corresponding jerk curve and/or by tuning the stop band of a bandstop filter to the characteristic frequencies of the mechanical system or machine element. In combination, both measures can improve the positioning accuracy while at the same time minimizing excitation of oscillations.
Claims22
A control method for a jerk-limited speed control of a movable machine element of a numerically controlled industrial processing machine, such as a machine tool, a robot and the like, comprising the steps of:
- subdividing a travel path of the machine element into consecutive travel segments;
- determining a jerk profile for each of the travel segments;
- and
- adapting the jerk profiles by a jerk limitation provided by a filtering action through bandstop filters having blocking frequencies,
- wherein the blocking frequencies coincide substantially with at least a selected number of characteristic frequencies of the movable machine element.
A numerical controller for a jerk-limited speed control of a movable machine element of a numerically controlled industrial processing machine, such as a machine tool, a robot and the like, comprising:
- an interpolator for subdividing a travel path of the machine element into consecutive travel segments;
- and
- a filter having a filtering function in form of a bandstop filter, said bandstop filter adapting jerk profiles by a jerk limitation so that blocking frequencies of the bandstop filter coincide substantially with at least a selected number of characteristic frequencies of the movable machine element.
Dependencies are inferred from the claim text.