Controller structure for multiple mechanically coupled drive units
AssigneeDr. Johannes Heidenhain GmbH
InventorsJosef Schoenhuber, Frieder Kohler, Stefan Maier
Life of this patent
Estimating the term…
Abstract
A controller structure for more than two drive units coupled mechanically to a movable element includes a position measuring device for determining an actual position of the movable element and a position controller for calculating a setpoint speed from a setpoint position and the actual position, the position measuring device and the position controller jointly serving all drive units. Each drive unit, however, has a speed controller of its own. The drive units are configured either as master or as slave, individual drive units also being able to assume both functions. A torque-master-slave controller ensures a compensation of the torques between the drive units.
Claims9
A controller structure for a plurality of drive units mechanically coupled to a movable element, comprising:
- a single position measuring device configured to determine an actual position of the movable element;
- and
- a position controller configured to calculate a setpoint speed valid for all drive units from a setpoint position and the actual position;
- wherein the position measuring device and the position controller are configured to jointly serve all of the drive units, each drive unit including a speed controller;
- wherein one drive unit is configured as a higher-order master, and each drive units subordinated to the master is configured as a slave and includes an MMS controller configured to provide a speed correction value for the master and the slave;
- and
- wherein the plurality of drive units are mechanically coupled to the movable element and are configured to simultaneously advance the movable element in one direction.
A system, comprising:
- a movable element;
- a plurality of drive units coupled to the movable element;
- and
- a controller structure including:
- a single position measuring device configured to determine an actual position of the movable element;
- and
- a position controller configured to calculate a setpoint speed valid for all drive units from a setpoint position and the actual position;
- wherein the position measuring device and the position controller are configured to jointly serve all of the drive units, each drive unit including a speed controller;
- wherein one drive unit is configured as a higher-order master, and each drive units subordinated to the master is configured as a slave and includes an MMS controller configured to provide a speed correction value for the master and the slave;
- and
- wherein the plurality of drive units are mechanically coupled to the movable element and are configured to simultaneously advance the movable element in one direction.
Dependencies are inferred from the claim text.