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

A control device for guiding movement of a movable machine element of a machine, comprising:

• first means for inputting a travel movement to be carried out by the machine element and for selecting an optimization criterion from a robust travel movement, where a smallest number of natural frequencies of the movable machine element is excited, and a time-optimized travel movement, where from the natural frequencies of the movable machine element only those natural frequencies are excited that do not include a main natural frequency;
• second means for determining a movement profile on the basis of the inputted travel movement and the selected optimization criterion;
• third means for ascertaining polynomial functions from the movement profile and generating coefficients of the polynomial functions, and a calculation module for determining the position setpoint variable on the basis of the coefficients;
• and
• fourth means for determining a position setpoint variable on the basis of the movement profile and for outputting the position setpoint variable to a closed-loop controller for executing the inputted travel movement of the machine element.

A system for guiding movement of a movable machine element of a machine, comprising:

• an input unit for allowing a user to input data relating to a travel movement to be carried out by a machine element and to input an optimization criterion selected from a robust travel movement, where a smallest number of natural frequencies of the movable machine element is excited, and a time-optimized travel movement, where from the natural frequencies of the movable machine element only those natural frequencies are excited that do not include a main natural frequency;
• a calculation unit responsive to the data for establishing a movement profile;
• a device for generating a position setpoint variable on the basis of the movement profile;
• a coefficient determination unit for ascertaining polynomial functions from the movement profile and generating coefficients of the polynomial functions, and a calculation module for determining the position setpoint variable on the basis of the coefficients;
• and
• a closed-loop controller for instructing a drive to execute the inputted travel movement of the machine element in response to the position setpoint variable.

A system for guiding movement of a movable machine element of a machine, comprising:

• an input unit for allowing a user to input data relating to a travel movement to be carried out by a machine element and to input an optimization criterion selected from a robust travel movement, where a smallest number of natural frequencies of the movable machine element is excited, and a time-optimized travel movement, where from the natural frequencies of the movable machine element only those natural frequencies are excited that do not include a main natural frequency;
• a calculation unit responsive to the data for establishing a movement profile;
• a device including a sampling unit which samples the movement profile in equidistant time intervals to generate a position setpoint variable;
• and
• a closed-loop controller for instructing a drive to execute the inputted travel movement of the machine element in response to the position setpoint variable.