Trajectory planning unit, valve arrangement and method

Patent metadata

Field	Value
Publication number	US-11453124-B2
Application number	US-202016829662-A
Country	US
Kind code	B2
Filing date	Mar 25, 2020
Priority date	Mar 29, 2019
Publication date	Sep 27, 2022
Grant date	Sep 27, 2022

Abstract

A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value. The trajectory planning unit is adapted to provide the trajectory according to at least one specification value which can be specified, the specification value including an initial velocity value, a final velocity value, an initial acceleration value and/or a final acceleration value.

First claim

What is claimed is:

1. A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value, the limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value, wherein the trajectory planning unit is adapted to provide the trajectory in accordance with at least one specification value which can be specified, the specification value comprising a velocity initial value, a velocity final value, an acceleration initial value and/or an acceleration final value, and
wherein the trajectory planning unit is adapted to generate the trajectory by performing a trajectory generation procedure, and to generate, within the trajectory generation procedure, a first acceleration curve, which satisfies the at least one limit value and the at least one specification value.

2. The trajectory planning unit according to claim 1 , wherein the at least one specification value comprises the final velocity value and the final acceleration value.

3. The trajectory planning unit according to claim 1 , wherein the at least one specification value comprises the initial velocity value and the initial acceleration value.

4. The trajectory planning unit according to claim 1 , wherein the trajectory planning unit is adapted to receive the at least one specification value from a superordinate controller and/or from the control unit.

5. The trajectory planning unit according to claim 1 , wherein the at least one specification value is different from zero.

6. The trajectory planning unit according to claim 1 , wherein the trajectory planning unit is adapted to provide the trajectory in real time on the basis of the target position curve.

7. The trajectory planning unit according to claim 1 , wherein the trajectory planning unit is adapted not to take into account the target position curve when generating the first acceleration curve.

8. The trajectory planning unit according to claim 1 , wherein the trajectory planning unit is adapted to generate, within the trajectory generation procedure, a second acceleration curve based on the first acceleration curve, which second acceleration curve satisfies a final position value contained in the target position curve.

9. The trajectory planning unit according to claim 1 , wherein the trajectory planning unit is adapted to generate the first acceleration curve based on an acceleration profile having a plurality of predetermined acceleration phases.

10. The trajectory planning unit according to claim 9 , wherein the acceleration profile comprises as a first acceleration phase a first rising phase with positive slope, as a second acceleration phase a first plateau phase with constant positive acceleration, as a third acceleration phase a first falling phase with negative slope, as the fourth acceleration phase a second plateau phase with zero acceleration, as the fifth acceleration phase a second falling phase with negative slope, as the sixth acceleration phase a third plateau phase with constant negative acceleration, and as the seventh acceleration phase a second rising phase with positive slope.

11. The trajectory planning unit according to claim 9 , wherein the trajectory planning unit is adapted to adjust the time durations of one or more of the acceleration phases to generate the second acceleration curve, so that the final position value contained in the target position curve is satisfied.

12. A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value, the limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value, wherein the trajectory planning unit is adapted to provide the trajectory in accordance with at least one specification value which can be specified, the specification value comprising a velocity initial value, a velocity final value, an acceleration initial value and/or an acceleration final value, and
wherein the trajectory planning unit is adapted to check whether the final position value contained in the target position curve can be satisfied together with the least one specification value, and wherein the trajectory planning unit is further adapted to provide, in the case where the trajectory planning unit comes to the check result that this is not possible, an auxiliary trajectory which satisfies the final position value and does not satisfy the at least one specification value.

13. A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value, the limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value, wherein the trajectory planning unit is adapted to provide the trajectory in accordance with at least one specification value which can be specified, the specification value comprising a velocity initial value, a velocity final value, an acceleration initial value and/or an acceleration final value, and
wherein the trajectory planning unit is adapted to, in order to provide a creepage distance, provide the trajectory with a trajectory final position value which is offset in the direction towards an initial position value with respect to a final position value contained in the target position curve.

14. The trajectory planning unit according to claim 1 , wherein the trajectory comprises a trajectory position signal, a trajectory velocity signal, a trajectory acceleration signal and/or a trajectory jerk signal.

15. A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value, the limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value, wherein the trajectory planning unit is adapted to provide the trajectory in accordance with at least one specification value which can be specified, the specification value comprising a velocity initial value, a velocity final value, an acceleration initial value and/or an acceleration final value, and
wherein the trajectory planning unit is adapted to provide a first trajectory and a second trajectory following the first trajectory and to use the final velocity value and/or final acceleration value of the first trajectory as the initial velocity value and/or initial acceleration value of the second trajectory.

16. A valve arrangement comprising a carrier body and a plurality of plate-shaped valve modules arranged in a row on the carrier body and a control module arranged on the carrier body, which control module comprises a trajectory planning unit for providing a trajectory as a command

Assignees

• Festo Se & Co Kg

Inventors

• Falkenhahn Valentin
• Klassen Daniel
• Neumann Rüdiger

Classifications

• F15B2211/6656

  Closed loop control, i.e. control using feedback · CPC title

• F16K31/124 Primary

  servo actuated · CPC title

• F15B2211/755

  Control of acceleration or deceleration of the output member · CPC title

• F15B2211/8855

  Compressible fluids, e.g. specific to pneumatics · CPC title

• F15B2211/6336

  representing a state of the output member, e.g. position, speed or acceleration · CPC title