Method for a numerical positioning control system
AssigneeSiemens Aktiengesellschaft
InventorManfred Boehm
Life of this patent
Estimating the term…
Abstract
A numerical positioning control system renders possible clocked-synchronous acceleration, and deceleration operations for motorized driving systems (A). A specified target point (PO), which for example can be the end point of a path section, can be reached with a predetermined final velocity (V.sub.END) exactly at a calibration time (T) of the numerical control. At least two acceleration values (a.sub.1,a) are defined for the acceleration, and braking operation, whereby the time which is required for the entire acceleration operation is exactly an integral multiple of the calibration time (T) of the numerical control. To avoid sudden changes in acceleration, a rate-of-change limiter is implemented according to the principle of discrete convolution.
Claims12
A method for the numerical positioning of driving systems to reach a target point (P0) with a predetermined final velocity (v.sub.END) comprising the steps of:
- a) successively approaching predetermined positions, which lie on at least a one-dimensional path of motion;
- b) determining an approach acceleration (a.sub.1) for a first calibration time ((k-1).multidot.T), which occurs before a minimum time (t.sub.MIN), wherein the minimum time (t.sub.MIN) is a time required to reach the target point (P0) with the final velocity (v.sub.END) when employing a maximum acceleration (a.sub.MAX);
- c) applying said approach acceleration (a.sub.1) to the driving system up to a second calibration time (k.multidot.T);
- d) determining a final acceleration (a) for the second calibration time (k.multidot.T);
- e) applying said final acceleration (a) to the driving system until the target point (P0) is reached;
- and
- f) selecting said approach acceleration (a.sub.1) and final acceleration (a) to reach the target point (P0) with the final velocity (v.sub.END) exactly at an integral multiple of the calibration time (n.multidot.T).
A method for the numerical positioning of motorized driving systems to reach a target point (P0) with a predetermined final velocity (v.sub.END) comprising the steps of:
- a) successively approaching predetermined positions, which lie on at least a one-dimensional path of motion;
- b) determining a first approach acceleration for a first calibration time ((k-1).multidot.T), which occurs before a minimum time (t.sub.MIN), wherein the minimum time (t.sub.MIN) is a time required to reach the target point (P0) with the final velocity (v.sub.END) when employing a maximum acceleration (a.sub.MAX);
- c) determining an additional approach acceleration (a.sub.1 (k.multidot.T)) for each additional calibration time (k.multidot.T);
- c) applying said additional approach acceleration (a.sub.1 (k-1).multidot.T,a.sub.1 (k.multidot.T)) to the driving system at its corresponding calibration time ((k-1).multidot.T,k.multidot.T);
- and
- d) selecting each additional approach acceleration (a.sub.1 (k-1),a.sub.1 (k)) so that at a respective additional calibration time (k.multidot.T), a remaining residual path (s(k)) can be covered with an acceleration (a) during a time span (n.multidot.T) which corresponds to an integral multiple of the calibration time.
Dependencies are inferred from the claim text.