Control arrangement with correction means for systematic position-dependent errors

A control arrangement for an electrical drive, comprising:

• a control device processing desired values and actual values of the drive within a desired-actual control,
• a determination device determining a derived variable iteratively;
• an evaluation device receiving a position value comprising an actual position value or a desired position value, and receiving the derived variable from the determination device,
• the evaluation device assigning the derived variable to the position value of the drive and, after accumulating a sufficiently large number of derived variables, determining characteristic values of a systematic error contained in the actual values,
• the evaluation device determining correction values as a function of the characteristic values determined and applying the correction values to the desired position values, the actual position values or a difference between desired and actual position values,
• wherein the derived variable determined by the determination device depends on a calculated difference in an actual velocity value determined by a temporal derivation of the actual position value from a desired velocity value determined by the control device divided by the actual velocity or the desired velocity.