Siemens Aktiengesellschaft

Thomas Grohmann

Stefan Kuenzel

Wolfgang Papiernik

Guido Seeger

Bernd Quaschner

Johannes Welker

The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

Method of control and control structure for the movement control, pre-control and fine interpolation of objects in a speed controller clock which is faster than the position controller clock

A position control branch for a hydraulic drive is prescribed a desired position. The hydraulic drive is moved to an actual position via the position control branch. It is determined whether the hydraulic drive has come to a standstill. On detection of a standstill, a desired direction of movement is determined with the aid of the actual position and the desired position. A force value dependent on the desired direction of movement is then applied to the hydraulic drive via a force precontroller connected in parallel with the position control branch.

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Poxdorf, Germany

Thomas Grohmann