US 2022/0063094 A1 · METHOD AND DEVICE FOR GUIDING THE MOVEMENT OF A MOVABLE MACHINE ELEMENT OF A MACHINE

Abstract

The movement of a machine element of a machine that can be driven via a shaft with the aid of a motor can be guided by specifying a setpoint guidance variable describing a desired movement process of the machine element for the actuation of the motor and determining an actual pilot variable and/or an actual guidance variable from the setpoint guidance variable by subjecting the setpoint guidance variable to a digital path model which simulates the dynamic behavior of the machine element and the motor. The digital path model is parameterized by the total moment of inertia and the poles and zeros of the transfer function of the mechanical system consisting of motor, shaft and machine element.

Claims15

Dependent claims

A method for guiding a movement of a machine element of a machine driven via a shaft with the aid of a motor, comprising:

specifying, for actuating the motor, a setpoint guidance variable describing a desired movement process of the machine element;
and
determining an actual pilot variable or an actual guidance variable from the setpoint guidance variable by subjecting the setpoint guidance variable to a digital path model which is parameterized by a total moment of inertia and poles and zeros of a transfer function of a mechanical system composed of the motor, the shaft and the machine element and which simulates a dynamic behavior of the machine element and the motor.

Dependencies are inferred from the claim text.

Facts

Application

17/411,856Filed 25 Aug 2021

Priority

EP 20192831.426 Aug 2020

Published

3 Mar 2022

Term ends

Not estimatedThe source records don’t support an estimate.

Classification11 codes

B25J 9/1664
Characterised by programming, planning systems for manipulators: characterised by motion, path, trajectory planning
B25J 9/1605
Characterised by the control system, structure, architecture: simulation of manipulator lay-out, design, modelling of manipulator
B25J 9/1607
Characterised by the control system, structure, architecture: calculation of inertia, jacobian matrixes and inverses
G05B 19/19
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…

Method and device for guiding the movement of a movable machine element of a machine

Life of this patent

Method and device for guiding the movement of a movable machine element of a machine

Life of this patent

Abstract

Claims15