US 11,747,785 B2
Position-controlled control with compensation of elasticity-induced position errors
Andreas Klotzek, Erlangen (DE)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Appl. No. 17/413,872
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Sep. 20, 2019, PCT No. PCT/EP2019/075291
§ 371(c)(1), (2) Date Jun. 14, 2021,
PCT Pub. No. WO2020/126133, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 18213565 (EP), filed on Dec. 18, 2018.
Prior Publication US 2022/0043418 A1, Feb. 10, 2022
Int. Cl. H02P 9/04 (2006.01); H02P 6/17 (2016.01); G05B 19/404 (2006.01); G05D 3/20 (2006.01)
CPC G05B 19/404 (2013.01) [G05D 3/20 (2013.01); G05B 2219/41443 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for controlling a machine having at least one position-controlled shaft, the method comprising:
specifying for a control facility of the machine a sequence of control commands which define for the at least one position-controlled shaft a sequence of ideal position target values composed of a plurality of successive sections, with the ideal position target values within a section of the sequence of ideal position target values either increasing monotonically or decreasing monotonically and with a difference between immediately successive ideal position target values changing its sign from one of the plurality of successive sections to a following one of the plurality of the successive sections,
receiving from the control facility at a position controller for the at least one position-controlled shaft a sequence of resulting position target values and a corresponding position actual value commensurate with the sequence of ideal position target values, wherein the resulting position target values are obtained by adding to the ideal position target values respective additional target values, with a respective additional target value being positive when the ideal position target values increase monotonically within a section, and the respective additional target value being negative when the ideal position target values decrease monotonically within the section, with the additional target values comprising a first component which is dependent exclusively on a position difference which is either a difference between the respective ideal position target value and the first ideal position target value of the respective section, or a difference between the respective ideal position target value and the respective position actual value, with a magnitude of the first component of the additional target values increasing as a magnitude of the position difference increases, initially strictly monotonically and then at least monotonically,
determining with the position controller, based on the received sequence of resulting position target values and the corresponding position actual value, a first actuating signal for an actuator of the at least one shaft, and
controlling a position of the at least one shaft, directly or indirectly, commensurate with the resulting position target value for the at least one shaft.