Apparatus and method for controlling and regulating a multi-element system

Patent metadata

Field	Value
Publication number	US-10007280-B2
Application number	US-201514734747-A
Country	US
Kind code	B2
Filing date	Jun 9, 2015
Priority date	Jun 10, 2014
Publication date	Jun 26, 2018
Grant date	Jun 26, 2018

Abstract

An apparatus for controlling and regulating a movement of a system includes a load calculating device calculating continuously during the movement of the system a respective force vector for each of the individual elements as a function of predetermined reference coordinates and a torque calculating device calculating continuously during the movement at least one compensating variable, wherein the compensating variable compensates the force vectors as a function of the reference coordinates and the force vectors. The apparatus for controlling and regulating has a control unit controlling continuously during the movement a force-producing variable for the at least one drive as a function of the reference and the at least one compensating variable.

First claim

What is claimed is:

1. An apparatus for controlling and regulating a movement of a system comprising a plurality of individual elements which cooperate kinematically, with at least one of the individual elements being movable by a drive, said apparatus comprising:
a load calculating device calculating continuously during the movement of the system a respective force vector for each of the individual elements as a function of predetermined reference coordinates;
a torque calculating device calculating continuously during the movement at least one compensating variable as a function of the predetermined reference coordinates and the force vector, said compensating variable compensating the respective force vectors, said compensating variable being selected from one of the group consisting of compensating torque, a compensating force, a compensating speed and a compensating position;
a control unit controlling continuously during the movement a force-producing variable for the at least one drive as a function of the reference coordinates and the at least one compensating variable; and
a model of a control path of the system, wherein the model is configured to calculate at least one ideal command variable for the drive or an ideal torque of the drive for monitoring an actual torque of the drive.

2. The apparatus of claim 1 , wherein the compensating variable is a member selected from the group consisting of a compensating torque, a compensating force, a compensating speed and a compensating position.

3. The apparatus of claim 1 , wherein the load calculating device uses a load model for calculating the respective force vector, said load model considering at least one of a point, a direction, arid an amplitude of an introduction of force in one of the individual elements.

4. The apparatus of claim 1 , wherein the control unit has a cascaded position control, a speed control and one of from the group consisting of a pressure control and a current control.

5. The apparatus of claim 1 , wherein the torque calculating device uses a multi-element model for calculating an at least one compensating torque, said multi-element model considering at least one of a mass, a resilience, a damping, and a linear dependence on degrees of freedom of each of the respective individual elements.

6. The apparatus of claim 5 , wherein the multi-element model is based on a linear differential equation system.

7. The apparatus of claim 6 , wherein the differential equation system is based on a mass matrix, a damping matrix and a stiffness matrix, in each case relative to the individual elements.

8. The apparatus of claim 5 , wherein the multi-element model considers at least one of inertial forces and centrifugal forces respectively acting on the individual elements.

9. The apparatus of claim 1 , wherein the torque calculating device is configured to continuously calculate during the movement a maximum acceleration of one of the individual elements or a combination of a plurality of individual elements.

10. The apparatus of claims 1 , wherein the torque calculating device and the control unit are configured to continuously reduce an excitation of at least one natural frequency of the system during the movement.

11. A method for controlling and regulating a movement of a system comprising a plurality of individual elements which cooperate kinematically, at least one thereof being moved by a drive, said method comprising:
calculating with a load calculating device continuously during the movement of the system a respective force vector for each of the individual elements as a function of predetermined reference coordinates;
calculating a torque calculating device continuously during the movement of the system at least one compensating variable compensating the force vectors based on the reference coordinates and the force vectors, said compensating variable being selected from one of the group consisting of compensating torque, a compensating force, a compensating speed and a compensating position;
controlling a control unit controlling continuously during the movement of the system a force-producing variable for the at least one drive depending on the reference coordinates and the at least one compensating variable; and
calculating with a model at least one ideal command variable for the drive or an ideal torque of the drive of a control path of the system, for monitoring an actual torque of the drive.

Assignees

• Siemens Ag

Inventors

• Bitterolf David
• Hamann Jens
• Hamm Carsten
• Tauchmann Sven

Classifications

• G05B2219/39319

  Force control, force as reference, active compliance · CPC title

• G05B2219/39194

  Compensation gravity · CPC title

• G05B2219/39176

  Compensation deflection arm · CPC title

• B25J9/1638 Primary

  compensation for arm bending/inertia, pay load weight/inertia · CPC title

• G05D17/02 Primary

  characterised by the use of electric means · CPC title