Control method and numerical control for motion control of industrial machine tools

A control method for motion control of a machine, the machine having at least one drive, comprising:

• generating, in a cartesian coordinate system, cartesian position setpoints for the machine;
• performing a cartesian position control of the cartesian position setpoints in the cartesian coordinate system to form cartesian speed values;
• transforming the cartesian speed values with a kinematic transform into a machine coordinate system;
• specifying, as a function of the transformed speed values, speed parameters of one of axial speed and acceleration control for each at least one drive of the machine;
• determining actual position values of the machine in the cartesian coordinate system and belonging to the cartesian setpoints;
• and
• using the actual position values as controlled variables for the cartesian position control.

A control method for motion control of a machine having at least one drive, comprising:

• generating, in a cartesian coordinate system, cartesian position setpoints for the machine;
• performing a cartesian position and speed control of the cartesian position setpoints in the cartesian coordinate system to form cartesian acceleration values;
• transforming the cartesian acceleration values with a kinematic transform into a machine coordinate system;
• specifying, as a function of the transformed acceleration values, acceleration parameters of an axial acceleration control each at least one drive of the machine;
• determining actual position values of the machine in the cartesian coordinate system and belonging to the cartesian setpoints and speed setpoints;
• determining actual speed values of the machine;
• using the actual position values as controlled variables for the cartesian position control;
• and
• using the actual speed values as controlled variables for the cartesian speed control.

A control method for motion control of a machine having at least one drive, comprising:

• generating, in a cartesian coordinate system, cartesian position setpoints for the machine;
• performing a cartesian position, speed and acceleration control of the cartesian position setpoints in the cartesian coordinate system, to form one of cartesian current setpoints and cartesian voltage setpoints;
• transforming the one of cartesian current setpoints and cartesian voltage setpoint with a kinematic transform into a machine coordinate system;
• specifying, as a function of the transformed setpoints, one of current values and voltage values for each at least one drive of the machine;
• determining actual position values of the machine in the cartesian coordinate system and belong to the cartesian setpoints and speed setpoints;
• determining actual speed values of the machine;
• determining actual acceleration values of the machine;
• using the actual position speed values of the machine, speed setpoints and acceleration setpoints as controlled variables for the cartesian position control;
• using the actual speed values of the machine as controlled variables for the cartesian speed control;
• and
• using the actual acceleration values of the machine as controlled variables for the cartesian acceleration control.

A numerical control system for motion control of a machine, comprising:

• a generator generating in a cartesian coordinate system reference input variables;
• a cartesian control device generating in the cartesian coordinate system cartesian motion parameters as a function of the reference input variables;
• a transformation device for transforming, using a kinematic transformation, the reference input signals into a machine coordinate system;
• an arrangement providing motion parameters for axially driving at least one drive of the machine with motion parameters derived from the reference input variables;
• and
• a detector system determining actual motion values belonging to one of the cartesian reference input variables and the cartesian motion values in the cartesian coordinate system, the detector system supplying controlled variables to the cartesian control device;
• wherein a mechanical system of the machine is used for inverse kinematic transformation into the machine coordinate system.

A numerical control system for motion control of a machine, comprising:

• a generator generating in a cartesian coordinate system cartesian position setpoints;
• a cartesian position control device generating in the cartesian coordiante system cartesian speed values as a function of the cartesian position setpoints;
• a transformation device transforming the cartesian speed values into a machine coordinate system using a kinematic transform;
• an arrangement providing at least one of an axial speed and axial acceleration parameter for driving at least one drive of the machine, the at least one of the axial speed and axial acceleration parameter being derived from the transformed speed values;
• and
• a detector system detecting actual position values of the machine and supplying the actual position values to the cartesian position control device as controlled variables, the actual position values being determined in the cartesian coordinate system and belonging to the cartesian position setpoints.

A numerical control device for motion control of a machine, comprising:

• a generator generating in a cartesian coordinate system cartesian position setpoints;
• a cartesian position control device and a cartesian speed control device, the cartesian position control device and the cartesian speed control device generating in the cartesian coordinate system cartesian acceleration values as a function to the cartesian position setpoints;
• a transformation device transforming the cartesian acceleration values into a machine coordinate system using a kinematic transform;
• an arrangement providing acceleration parameters for driving the machine as a function of acceleration parameters of an axial acceleration control, the acceleration parameters being derived from the transformed acceleration values;
• and
• a detector system detecting actual position values of the machine and actual speed values of the machine, and supplying the actual position values and speed setpoints to the cartesian position control device as controlled variables, the actual position values being determined in the cartesian coordinate system and belonging to the cartesian position setpoints, the detector system further supplying the actual speed values of the machine to the cartesian speed control device as controlled variables.

A numerical control system for motion control of a machine, comprising:

• a generator generating in a cartesian coordinate system cartesian position setpoints;
• a cartesian position control device, a speed control device and an acceleration control device generating in the cartesian coordinate system one of cartesian current setpoints and cartesian voltage setpoints as a function of the cartesian position setpoints;
• a transformation device transforming the one of the cartesian current setpoints and the cartesian voltage setpoints into a machine coordinate system using a kinematic transform;
• an arrangement providing at least one of current values and voltage values for driving the machine, the at least one of the current values and voltage values being derived from the transformed one of the cartesian current setpoints and cartesian voltage setpoints;
• and
• a detector system detecting actual position values of the machine and actual speed values of the machine, the detector system supplying the actual position values, speed setpoints and acceleration setpoints to the cartesian position control device as controlled variables, the actual position values being determined in the cartesian coordinate system and belonging to the cartesian position setpoints, the detector system further supplying the actual speed values of the cartesian speed control device as controlled variables, and supplying actual acceleration values to the cartesian acceleration control device.