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US 6,882,948 B2Granted
Speed-dependent setpoint correction in electrically regulated slave drives
AssigneeSiemens Aktiengesellschaft
InventorsMartin Schröder, Manfred Zäh
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AssigneeSiemens Aktiengesellschaft
InventorsMartin Schröder, Manfred Zäh
Estimating the term…
The system and method of the present invention is to drive a slave axis (S_A) with a value which indicates to said slave axis that the guide axis (L_A) has already rotated further than is actually the case. This can be achieved by adding a correction angle (φcorr) to the measured angle (φL—meas) of the guide axis. In order to configure the virtual onward rotation in such a way that a lag error of the slave axis is just compensated as a result, guide axis angles (φL—meas) are increased by respective correction angles (φcorr) which are proportional to the angular velocity (ωL) of the guide axis and weighted with the data propagation time (TT) of the position measured value (φL—meas) of the guide axis and the delay (TR) of the position control system of the slave axis, said correction angles (φcorr) preferably being dimensioned in accordance with φcorr=ωL*(TT+TR).
A setpoint correction method for an electrically controlled slave axis which, in accordance with a predefined functional relationship follows a guide movement of a higher-order guide axis comprising the steps of:
A setpoint correction method for an electrically regulated slave axis which, in accordance with a predefined functional relationship follows a guide movement of a higher-order guide axis comprising the steps of:
A control system for generating and correcting setpoints for driving a slave axis which, in accordance with a predefined functional relationship follows a guide movement of a higher-order guide axis comprising a register for registering position measured values of the guide axis, said register generating and applying position correction values to position measured values wherein the position correction values are determined proportionally to the guide axis's speed, wherein a constant value of said guide axis's speed is used during a data propagation time of the position measured value of the guide axis and/or a delay of a position control system of the slave axis.
Dependencies are inferred from the claim text.