Method for moving a machine element of an automation machine and a drive system

A method for moving a machine element of an automation machine having a first drive shaft performing a first movement component and a second drive shaft performing a second movement component, said first and second movement component having a common direction and being controlled by separate first and second controllers, the method comprising the steps of:

• supplying to the first controller as a desired control variable a first desired value for controlling the first movement component,
• supplying to the first controller as an actual control variable a first actual value representing the first movement component,
• filtering the first desired variable using a filter having a frequency-dependent transfer function to generate a filtered first desired variable,
• adding the filtered first desired variable and a second desired variable to form a sum,
• determining a difference between the formed sum and the first actual variable, and
• supplying the difference to the second controller as a desired control variable for controlling the second movement component.

A drive system for moving a machine element of an automation machine, comprising:

• a first drive shaft moving the machine element with a first movement component and a second drive shaft moving the machine element with a second movement component in a common direction relative to the first movement component,
• a first controller controlling movement of the first drive shaft and a second controller controlling movement of the second drive shaft, wherein the first controller receives a first desired variable for the overall movement, which is composed of the first and second movement components, and a first actual value representing the first movement component as an actual control variable,
• a filter having a frequency-dependent transfer function filtering the first desired variable and generating a filtered first desired variable, and
• a subtractor forming a difference between the filtered first desired variable and the first actual variable and supplying the difference to the second controller as a desired control variable for controlling the second movement component of the second drive shaft.

A drive system for moving a machine element of an automation machine, comprising:

• a first drive shaft moving the machine element with a first movement component and a second drive shaft moving the machine element with a second movement component in a common direction relative to the first movement component,
• a first controller controlling movement of the first drive shaft and a second controller controlling movement of the second drive shaft, wherein the first controller receives a first desired variable and a first actual value as control variables for controlling the first movement component,
• a filter having a frequency-dependent transfer function filtering the first desired variable and generating a filtered first desired variable,
• an adder adding the filtered first desired variable and a second desired variable to form a sum;
• and
• a subtractor forming a difference between the sum and the first actual variable and supplying the difference to the second controller as a desired control variable for controlling the second movement component of the second drive shaft.