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AssigneeSiemens Aktiengesellschaft
InventorsThomas Grohmann, Stefan Kuenzel, Wolfgang Papiernik, Bernd Quaschner, Guido Seeger, Johannes Welker
Estimating the term…
The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.
A control method for the movement control of a numerically controlled machine having a speed control system, a drive part, a speed controller clock arranged in the drive part, and a higher-level position control system having a control-side part and the drive-side part with setpoint speed values preset as a reference variable by a control-side part of the position control system in a comparatively slower position control clock, comprising using said setpoint speed values serve on the drive side-part for determining a constant component of a setpoint position value polynomial, and determining a variable component on the drive-side in the speed controller clock as a fine position component on the basis of a desired axle speed preset by a control-side part computation in the position control clock and an average axle speed during a last position control clock which is fed on the input side to the drive-side part of the position control system and which serves for fine position interpolation.
A control device for the movement control of numerically controlled machines comprising a drive-side speed controller having a speed controller clock, a higher-level drive-side position controller having a speed controller clock, and a higher-level control-side position controller having a comparatively slower position controller clock which supplies setpoint speed values as a reference variable, wherein a drive-side computing means which is preset with a desired axle speed and an average axle speed during a last position controller clock by a control-side path computation in the position controller clock by which a fine position component can be determined on the basis of this information in the speed controller clock and which is used to activate the drive-side position controller's input side.
Dependencies are inferred from the claim text.