Processing machine with vibration compensation of movable mechanical structures

Patent metadata

Field	Value
Publication number	US-9740179-B2
Application number	US-201213630688-A
Country	US
Kind code	B2
Filing date	Sep 28, 2012
Priority date	Sep 30, 2011
Publication date	Aug 22, 2017
Grant date	Aug 22, 2017

Abstract

A control device of a processing machine actuates an axle drive of the processing machine commensurate with a reference displacement movement, displacing a mechanical structure of the processing machine accordingly. The control device determines an absolute movement of the mechanical structure in space and therefrom, taking into account the reference displacement movement of the mechanical structure, a compensation movement for a compensating mass damping a vibration of the mechanical structure. Arranged on the mechanical structure is a compensating drive which acts on the compensating mass. The control device actuates the compensating drive in accordance with the compensation movement, displacing the compensating mass relative to the mechanical structure and thereby damping the vibration of the mechanical structure.

First claim

What is claimed as new and desired to be protected by Letters Patent is set forth in the appended claims and includes equivalents of the elements recited therein:

1. A method for operating a processing machine, comprising the steps of:
controlling an axle drive of the processing machine with a control device of the processing machine commensurate with a reference displacement movement so as to displace a mechanical structure of the processing machine with the axle drive relative to a stationary base commensurate with the reference displacement movement,
determining, with the control device, an absolute movement of the mechanical structure with respect to the stationary base,
determining, with the control device, a compensation movement for a physical compensating mass that is connected for force transmission to a compensating drive arranged on the mechanical structure and movable by way of the compensating drive relative to the mechanical structure, based on the determined absolute movement, taking into account the reference displacement movement of the mechanical structure, so as to dampen a vibration of the mechanical structure, and
controlling, with the control device the compensating drive so as to act on the compensating mass commensurate with the determined compensation movement such that the compensating mass is displaced relative to the mechanical structure by the compensating drive commensurate with the compensation movement.

2. The method of claim 1 , wherein the compensation movement is determined with the control device based on a difference between an actual acceleration of the mechanical structure with respect to the stationary base and a reference acceleration corresponding to a reference displacement movement of the mechanical structure.

3. The method of claim 2 , wherein the control device receives a signal that is characteristic of the actual acceleration of the mechanical structure with respect to the stationary base.

4. The method of claim 2 , wherein the actual acceleration of the mechanical structure with respect to the stationary base is determined with the control device based on measured values that are different from the actual acceleration of the mechanical structure with respect to the stationary base.

5. The method of claim 4 , wherein the measured values comprise at least one value selected from an actual value of the compensating drive, a position of the compensating mass relative to the mechanical structure, and at least one derivative with respect to time of the position of the compensating mass relative to the mechanical structure.

6. The method of claim 4 , wherein the measured values comprise an actual current or an actual torque of the compensating drive and a first derivative with respect to time of the position of the compensating mass relative to the mechanical structure.

7. The method of claim 4 , wherein the measured values consist of at least one value selected from an actual value of the compensating drive, a position of the compensating mass relative to the mechanical structure, and at least one derivative with respect to time of the position of the compensating mass relative to the mechanical structure.

8. The method of claim 4 , wherein the measured values consist of an actual current or an actual torque of the compensating drive and a first derivative with respect to time of the position of the compensating mass relative to the mechanical structure.

9. The method of claim 1 , wherein—in addition to the compensation movement—the compensating mass is displaced with the control device by superimposing a movement relative to the mechanical structure through actuation of the compensating drive, wherein at least one of a first, a second and a third derivative with respect to time of the superimposed movement is different from zero at any time.

10. A non-transitory machine-readable medium comprising a control program having machine code which when loaded into a memory of a control device for a processing machine is directly executable by the control device, wherein execution of the machine code by the control device causes the control device to
control an axle drive of the processing machine commensurate with a reference displacement movement so as to displace a mechanical structure of the processing machine with the axle drive relative to a stationary base commensurate with the reference displacement movement,
determine an absolute movement of the mechanical structure with respect to the stationary base,
determine a compensation movement for a physical compensating mass that is connected for force transmission to a compensating drive arranged on the mechanical structure and movable by way of the compensating drive relative to the mechanical structure, based on the determined absolute movement, taking into account the reference displacement movement of the mechanical structure, so as to dampen a vibration of the mechanical structure, and
control the compensating drive so as to act on the compensating mass commensurate with the determined compensation movement such that the compensating mass is displaced relative to the mechanical structure by the compensating drive commensurate with the compensation movement.

11. A control device for a processing machine, wherein the control device is configured to operate the processing machine by:
controlling an axle drive of the processing machine commensurate with a reference displacement movement so as to displace a mechanical structure of the processing machine with the axle drive relative to a stationary base commensurate with the reference displacement movement,
determining an absolute movement of the mechanical structure with respect to the stationary base,
determining a compensation movement for a physical compensating mass that is connected for force transmission to a compensating drive arranged on the mechanical structure and movable by way of the compensating drive relative to the mechanical structure, based on the determined absolute movement, taking into account the reference displacement movement of the mechanical structure, so as to dampen a vibration of the mechanical structure, and
controlling the compensating drive so as to act on the compensating mass commensurate with the determined compensation movement such that the compensating mass is displaced relative to the mechanical structure by the compensating drive commensurate with the compensation movement.

12. A processing machine, comprising:
a stationary base,
a mechanical structure movable with respect to the stationary base,
an axle drive configured to displace the mechanical structure relative to the stationary base commensurate with a reference displacement movement,
a control device controlling the axle drive commensurate with the reference displacement movement,
a compensating drive, which is different from the axle drive, affixed on the mechanical structure, and
a physical compensating mass that is connected for force transmission to the compensating drive and movable by way of the compensating drive relative to the mechanical structure so as to displace the compensating mass relative to the mechanical structure,
wherein the control device is configured to
determine an absolute movement of the mechanical structure relative to the stationary base,
determine a compensation movement for the physical compensating mass based on the determined absolute movement, taking into account the reference displacement movement of the mechanical structure, so as to dampen a vibration of the mechanical structure, and
control the compensating drive so as to act on the compensating mass commensurate with the determined compensation m

Assignees

• Siemens Ag

Inventors

• Ladra Uwe
• Schäfers Elmar
• Schür Torsten
• Stoiber Dietmar

Classifications

• F16F15/002 Primary

  characterised by the control method or circuitry (control of mechanical oscillations per se G05D19/00) · CPC title

• G05B13/02 Primary

  electric · CPC title

• F16F7/1011

  by electromagnetic means · CPC title