Method for controlling the movement of a drive axis of a drive unit

Method for controlling the movement of a drive axis (A, Ai) of a drive unit (AE), wherein the movement of the drive axis (A, Ai) is controlled in a cycle step (n) by specifying a setpoint (S(t), S(k)) of the movement, by means of which there results a movement phase ((S(t), {dot over (S)}(t), . . . , S(t)(x)), (S(k), {dot over (S)}(k), . . . , S(k)(x))) of the movement of the drive axis (A, Ai), wherein a smoothing filter (10) in the form of an averaging filter calculates the new setpoint as the mean value (S(t), S(k)) of the previous setpoints (S(t), S(k)) at a filter time (tR, nR) in the past, wherein the smoothing filter (10) is activated during the movement with a current movement phase ((S0, {dot over (S)}0, . . . , S0(x))) at a time (tein>0, kein>0), that, for the previous time interval ([tein−tR, tein], {kein−nR+1, . . . , kein}), a function (f(t), f(k)) is assumed for the highest time derivative (S(t)(x), S(k)(x)) of the setpoint (S(t), S(k)) in the movement phase ((S(t), {dot over (S)}(t), . . . , S(t)(x)), (S(k), {dot over (S)}(k), . . . , S(k)(x))), the mean value (f) of which over the previous time interval ([tein−tR, tein], {kein−nR+1, . . . , kein}) corresponds to the current value (S0(x)) of the highest time derivative (S(t)(x), S(k)(x)) at the time (tein, kein) of activation of the smoothing filter (10), that for the previous time interval [tein−tR, tein], {kein−nR+1, . . . kein}), the lower time derivatives ((S(t), {dot over (S)}(t), . . . , S(t)(x−1)), (S(k), {dot over (S)}(k), . . . , S(k)(x−1))) of the setpoint (S(t), S(k)) are given by the condition that the mean values ((S, {dot over (S)}, . . . , S(x−1))) of the lower time derivatives of the setpoint (S(t), S(k)) over the previous time interval ([tein−tR, tein], {kein−nR+1, . . . kein}) in each case correspond to the current values ((S0, {dot over (S)}0, . . . , S0(x−1))) of the lower time derivatives of the setpoint (S(t), S(k)) at the time (tein, kein) of activation of the smoothing filter (10), and that on activation, for the previous time interval ([tein−tR, tein], {kein−nR+1, . . . , kein}), the smoothing filter (10) is initialized with the calculated setpoints (S(t), S(k)) for this previous time interval ([tein−tR, tein], {kein−nR+1, . . . , kein}) as setpoint profile (Sinit).