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WO2001033304A3 - Control system for electric drive mechanisms and method for controlling a trajectory - Google Patents

Control system for electric drive mechanisms and method for controlling a trajectory Download PDF

Info

Publication number
WO2001033304A3
WO2001033304A3 PCT/EP2000/010530 EP0010530W WO0133304A3 WO 2001033304 A3 WO2001033304 A3 WO 2001033304A3 EP 0010530 W EP0010530 W EP 0010530W WO 0133304 A3 WO0133304 A3 WO 0133304A3
Authority
WO
WIPO (PCT)
Prior art keywords
electric drive
control amplifier
trajectory
controlling
drive mechanisms
Prior art date
Application number
PCT/EP2000/010530
Other languages
German (de)
French (fr)
Other versions
WO2001033304A2 (en
Inventor
Eugen Saffert
Original Assignee
Eugen Saffert
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eugen Saffert filed Critical Eugen Saffert
Publication of WO2001033304A2 publication Critical patent/WO2001033304A2/en
Publication of WO2001033304A3 publication Critical patent/WO2001033304A3/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention relates to a control system for electric drive mechanisms, comprising an observer (1), a first control amplifier (4), a second control amplifier (5) and a third control amplifier (6). The output signals of the control amplifiers are combined to form an input signal for the drive mechanism. The output signals are combined when a differential signal is formed by a second differentiator (11) which feeds said signal to the second control amplifier (5) and when a differential signal is formed by a third differentiator (12) which feeds said signal to a third control amplifier (6). The invention also relates to a method for controlling the trajectory of an electric drive mechanism, whereby the possible trajectories of said drive mechanism are located within a fixed coordinate system having a dimension n. Transformation into an associated coordinate system is effected in order to determine a manipulated variable vector.
PCT/EP2000/010530 1999-10-31 2000-10-25 Control system for electric drive mechanisms and method for controlling a trajectory WO2001033304A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19952388.6 1999-10-31
DE1999152388 DE19952388A1 (en) 1999-10-31 1999-10-31 Control system for electric drives and methods for path control

Publications (2)

Publication Number Publication Date
WO2001033304A2 WO2001033304A2 (en) 2001-05-10
WO2001033304A3 true WO2001033304A3 (en) 2001-11-15

Family

ID=7927449

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2000/010530 WO2001033304A2 (en) 1999-10-31 2000-10-25 Control system for electric drive mechanisms and method for controlling a trajectory

Country Status (2)

Country Link
DE (1) DE19952388A1 (en)
WO (1) WO2001033304A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102637011A (en) * 2011-11-30 2012-08-15 沈阳工业大学 Robust control method for directly driving numerical control platform based on coordinate transformation and parameter adjustment

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19952389B4 (en) * 1999-10-31 2010-04-01 Eugen Saffert Method for determining the parameters and / or current-path characteristic of an electrically driven engine system
DE10303122B4 (en) 2002-09-27 2005-10-06 Koenig & Bauer Ag Method for regulating the web tension of a multi-track system
DE10321970A1 (en) * 2003-05-15 2004-12-09 Siemens Ag Method for guiding the movement of a movable machine element of a numerically controlled machine tool or production machine
DE102018208790A1 (en) * 2018-06-05 2019-12-05 Carl Zeiss Industrielle Messtechnik Gmbh Drive device for a coordinate measuring machine, coordinate measuring machine and method for controlling such a drive device

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3825138A1 (en) * 1987-09-23 1989-04-06 Bosch Gmbh Robert METHOD AND DEVICE FOR ADAPTIVE POSITION CONTROL IN THE ELECTRO-MAGNETIC ADJUSTMENT OF A QUANTITY-DETECTING MEMBER
GB2232504A (en) * 1989-05-23 1990-12-12 Honda Motor Co Ltd Method of teaching a robot
EP0407628A1 (en) * 1989-07-10 1991-01-16 Siemens Aktiengesellschaft Process and device for eliminating the influence of periodic disturbance values with a known varying frequency
DE3932214A1 (en) * 1989-09-27 1991-04-04 Bosch Gmbh Robert METHOD AND DEVICE FOR IMPLEMENTING THE SPEED OF INCREMENTAL MEASURING SYSTEMS
EP0509103A1 (en) * 1990-11-01 1992-10-21 Fanuc Ltd. Method of transforming coordinates of tridimensional laser
DE4222339A1 (en) * 1992-07-08 1994-01-13 First Order System Process for complete condition monitoring on a system that can be described as a first-order mechanical system
EP0639805A1 (en) * 1993-08-20 1995-02-22 Siemens Aktiengesellschaft Numerical control method for a kinematic system with multiple axis
DE19547486A1 (en) * 1995-12-19 1997-06-26 Abb Patent Gmbh Line path control method e.g. for power or temperature control in power station
DE19636102A1 (en) * 1996-09-05 1998-03-12 Fraunhofer Ges Forschung Method and device for controlling the movement of a wearer
EP0724748B1 (en) * 1993-10-18 1999-01-13 Siemens Aktiengesellschaft Control device

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3825138A1 (en) * 1987-09-23 1989-04-06 Bosch Gmbh Robert METHOD AND DEVICE FOR ADAPTIVE POSITION CONTROL IN THE ELECTRO-MAGNETIC ADJUSTMENT OF A QUANTITY-DETECTING MEMBER
GB2232504A (en) * 1989-05-23 1990-12-12 Honda Motor Co Ltd Method of teaching a robot
EP0407628A1 (en) * 1989-07-10 1991-01-16 Siemens Aktiengesellschaft Process and device for eliminating the influence of periodic disturbance values with a known varying frequency
DE3932214A1 (en) * 1989-09-27 1991-04-04 Bosch Gmbh Robert METHOD AND DEVICE FOR IMPLEMENTING THE SPEED OF INCREMENTAL MEASURING SYSTEMS
EP0509103A1 (en) * 1990-11-01 1992-10-21 Fanuc Ltd. Method of transforming coordinates of tridimensional laser
DE4222339A1 (en) * 1992-07-08 1994-01-13 First Order System Process for complete condition monitoring on a system that can be described as a first-order mechanical system
EP0639805A1 (en) * 1993-08-20 1995-02-22 Siemens Aktiengesellschaft Numerical control method for a kinematic system with multiple axis
EP0724748B1 (en) * 1993-10-18 1999-01-13 Siemens Aktiengesellschaft Control device
DE19547486A1 (en) * 1995-12-19 1997-06-26 Abb Patent Gmbh Line path control method e.g. for power or temperature control in power station
DE19636102A1 (en) * 1996-09-05 1998-03-12 Fraunhofer Ges Forschung Method and device for controlling the movement of a wearer

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ROJEK P ET AL: "SCHNELLE KOORDINATENTRANSFORMATION UND FUEHRUNGSGROESSENERZEUGUNG FUER BAHNGEFUEHTE INDUSTRIEROBOTER. FAST COORDINATE TRANSFORMATION AND PROCESSING OF COMMAND SIGNALS FOR CONTINUOUS PATH ROBOT CONTROL", ROBOTERSYSTEME,DE,SPRINGER VERLAG. BERLIN, VOL. 2, NR. 2, PAGE(S) 73-81, XP002039523 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102637011A (en) * 2011-11-30 2012-08-15 沈阳工业大学 Robust control method for directly driving numerical control platform based on coordinate transformation and parameter adjustment
CN102637011B (en) * 2011-11-30 2014-02-26 沈阳工业大学 Robust control method and control system of direct drive CNC platform based on coordinate transformation and parameter adjustment

Also Published As

Publication number Publication date
DE19952388A1 (en) 2001-06-28
WO2001033304A2 (en) 2001-05-10

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