DE102008053127B4 - A provisioning apparatus and method for providing a link signal for controlling a plant - Google Patents

Abstract

A provisioning device (100) for providing a link signal (150) for controlling a plant by a control unit (160), the plant providing a master axis signal representing a rotational speed or position of a baffle of the plant, characterized in that the following features are included A filter signal interface (110) configured to provide the master axis encoder signal (120) and a filtered master encoder signal value (130) representing a value obtained from filtering the master axis encoder signal (120); and - an association unit (140) configured to associate the filtered master encoder signal value (130) with a value of the master axis signal (120) to obtain the system connection signal (150), the combination unit (140) comprising a pre-association unit (180) and a main link unit (200), wherein the pre-link unit (180) is adapted to link the filtered master encoder signal value (130) with a value of the master encoder signal (120) to a pre-linked signal (190) and wherein the main link unit (200) is configured to determine the link signal (150) for controlling the system on the basis of a combination of a value of the Leitachsgebersignals (120) with the pre-linked signal (190).

Description

The present invention relates to a delivery device according to the preamble of claim 1 and a method according to the preamble of claim 40.

Production machines, in particular printing and processing machines, packaging machines or handling machines, include one or more drive axles, for. B. transport, processing or handling operations to do. Furthermore, these machines include one or more Motion Control units that control the movements of the machine. These MotionControl units can be integrated externally or in the drives. In order to be able to control a movement of the machines correctly, these machines may include one or more encoders, by means of which a machine speed or position is measured. Based on these measured quantities, the drive axes can then be controlled.

• – Zeitungsdruckmaschinen,
• – Akzidenzdruckmaschinen,
• – Tiefdruckmaschinen,
• – Verpackungsdruckmaschinen, und
• – Wertpapierdruckmaschinen

Examples of machines constructed in this way can be mentioned in the field of printing machines as follows:

• - Newspaper printing machines,
• - commercial printing presses,
• - gravure printing machines,
• - Packaging printing machines, and
• - securities printing machines

• – Beutelmaschinen,
• – Briefumschlagsmaschinen,
• – Verpackungsmaschinen, und
• – Tissuemaschinen

From the field of processing machines, the following machines can be mentioned by way of example, which may likewise have the structure described above:

• - bag machines,
• - Envelope machines,
• - packaging machines, and
• - tissue machines

From the field of packaging machines, which are constructed as described above, can be called horizontal and vertical tubular packaging machines.

In these exemplified machines are, as stated above, often donors, on the signals of other axes are operated synchronized. By way of example, machine retrofits may be mentioned in which an encoder (master shaft encoder or master axis encoder) is mounted on the so-called guide shaft in order to detect the position or speed of this shaft. This detected encoder size or the master axis encoder signal is the reference for the movement of the other axes.

The other axes are often in so-called synchronization modes - such. B. angle synchronization or cams - operated.

• – mechanische Störungen der Maschine an der Leitwelle, wie z. B. Momentenstöße in der Leitwelle durch andere mit der Leitwelle mechanisch gekoppelte Maschinenelemente;
• – mechanische Störungen durch Ankopplung mittels Zahnriemen bzw. Messgetriebe, die eine gewisse Ungenauigkeit haben;
• – elektrische Störungen auf dem Gebersignal, die zu einem nicht stochastischen überlagerten Signal führen (z. B. Störungen durch EMV);
• – elektrische Störungen in der Signalabtastungseinheit, wie z. B. Rauschen bzw. Jitter; oder
• – softwaremäßige Jitter, die bei einer softwaremäßigen Steuerung der Abtastung zu ungleichförmiger Geschwindigkeit bei eigentlich gleichförmiger abgetasteter Geschwindigkeit führen.

The problem with the use of such master axis sensors is that the (master) encoder can not always be mounted optimally and thus disturbances on the encoder signal are caused. These disturbances can be caused for example by

• - Mechanical disturbances of the machine on the guide shaft, such. B. momentary shocks in the guide shaft by other mechanically coupled to the guide shaft machine elements;
• - Mechanical disturbances by coupling by means of toothed belt or measuring gear, which have a certain degree of inaccuracy;
• - Electrical disturbances on the encoder signal, which lead to a non-stochastic superimposed signal (eg interference by EMC);
• - Electrical disturbances in the signal sampling unit, such. Noise or jitter; or
• Software jitter that results in non-uniform velocity at a virtually uniform sampled velocity on software control of the scan.

• – keine weitere Optimierung der Signale auszuführen;
• – eine Filterung des Gebersignals mittels einem ”Standard-Filter” auszuführen, wie z. B. einem Butterworth-Filter 2. Ordnung;
• – eine Filterung mit einer Extrapolation von Verzögerungszeiten durchzuführen, die durch die Abtastung und die Filterung entstehen; oder
• – eine Filterung mit einem Filter mit konstanten Filterparametern (z. B. konstante Eckfrequenz) durchzuführen.

Previous solutions to this problem would be, for example

• - do not carry out any further optimization of the signals;
• - Perform a filtering of the encoder signal by means of a "standard filter", such. A 2nd order Butterworth filter;
• - perform filtering with extrapolation of delay times caused by sampling and filtering; or
• - perform a filtering with a filter with constant filter parameters (eg constant corner frequency).

• – Bearbeitungsfehler,
• – eine erhöhte Geräuschbildung,
• – ein erhöhter Energieverbrauch, und/oder
• – eine erhöhte Erwärmung der Motoren.

A disadvantage in the case of no further optimization that the encoder signal has large disturbances, which would follow the synchronized working axes with their high rigidity. As a result, arise

• - processing errors,
• - an increased noise,
• An increased energy consumption, and / or
• - Increased heating of the engines.

A disadvantage in the case of filtering by means of a standard filter is that these filters cause signal delays which lead to disturbing angular differences between the reference position (guide shaft) and the filtered Leitachsposition and thus the axes to be synchronized occur. This leads z. For example, in the case of speed changes, angular errors of the machining axes occur, which are typically proportional to the speed difference. These Errors are greater, the more the filter effect is set.

For this purpose, devices and methods for providing a logic signal for controlling a system are known from the following documents, wherein the logic signal is derived from a Leitachsgebersignal a system:
For example, the company publication "Rexroth Bosch Group: Rexroth Indra Drive, Firmware for Drive Controllers MPH-05, MPB-05, MPD-05, Function Description, Edition 2007, pages 531-539, 819-829" discloses a firmware for drive controllers.

From this document, the features of the preamble of claims 1 and 39 go out.

The company brochure "Rexroth Bosch Group: Rexroth Indra Drive, Drive Controllers MPx-02, MPx03, MPx-04, MPx-05, Parameter Description. Edition 2007, pages 433-440 "discloses the associated parameter description for the aforementioned functional description of a firmware of the drive controllers.

The company brochure "SchneiderElectric / Telemecanique: Lexium 15 LPServover, Programmer's Guide. 2006 edition, pages 99-106, 143-147 "discloses on page 143 the filtering of a master axis encoder signal.

The EP 1 950 637 A1 discloses a controller for a servomotor.

The DE 19623223 A1 discloses a drive for a printing press.

The DE 603 10 980 T2 discloses a feedback control system, such as systems for regulating manufacturing processes.

The publication "Zheng Zedong; Li Yongdong; Fadel, M .; Xiao Xi: A Rotor Speed and Load Torque Observer for PMSM Based on Extended Kalman Filter, IEEE International Conference on Industrial Technology, 15-17 Dec. 2006, pages 233-238. Digital Object Identifier 10.1109 / 1CIT.2006.372295 discloses monitoring for a rotor speed sensor.

A disadvantage in the case of using filters with extrapolation is that the extrapolation can indeed eliminate the static angle error, but by extrapolation an "overshoot" can occur, the z. B. causes the leading axis executes a reverse rotation upon reaching the standstill of the Leitwelle. This is disadvantageous in some machines, since they must not rotate backwards due to mechanical conditions. These errors are greater, the more the filter effect is set.

It is thus the object of the present invention to provide a delivery device for controlling a plant and a method for controlling a plant having improved properties.

This object is achieved by a provisioning device according to claim 1 and by a method according to claim 39. Favorable embodiments of the invention are defined by the subclaims.

• – eine Filtersignalschnittstelle, die ausgebildet ist, um das Leitachsgebersignal und einen gefilterten Leitachsgebersignalwert bereitzustellen, der einen Wert repräsentiert, der aus einer Filterung des Leitachsgebersignals gewonnen wird; und
• – eine Verknüpfungseinheit, die ausgebildet ist, um den gefilterten Leitachsgebersignalwert mit einem Wert des Leitachsgebersignals zu verknüpfen, um das Verknüpfungssignal zur Steuerung einer Anlage zu erhalten.

The present invention provides a delivery device for providing a linkage signal for controlling a plant, the plant providing a rotor axis signal representing a rotational speed or position of a baffle of the plant, the delivery device comprising:

• A filter signal interface configured to provide the master encoder signal and a filtered master encoder signal value representing a value obtained from filtering the master encoder signal; and
• - A linking unit, which is designed to link the filtered Leitachsgebersignalwert with a value of the Leitachsgebersignals to obtain the logic signal to control a system.

• – Bereitstellen des Leitachsgebersignals und eines gefilterten Leitachsgebersignalwerts, der einen Wert repräsentiert, der aus einer Filterung des Leitachsgebersignals gewonnen wird; und
• – Verknüpfen des gefilterten Leitachsgebersignalwerts mit einem Wert des Leitachsgebersignals, um ein Verknüpfungssignal zu erhalten.

The present invention further provides a method of providing a linkage signal for controlling a plant that provides a rotor encoder signal that represents a rotational speed or a position of a baffle of the plant, the method comprising the steps of:

• Providing the master axis signal and a filtered master encoder signal value representing a value obtained from a filtering of the master axis encoder signal; and
• - Combining the filtered Leitachsgebersignalwerts with a value of the Leitachsgebersignals to obtain a logic signal.

The present invention and is based on the finding that by filtering the Leitachsgebersignals and the combination of the filtered Leitachsgebersignals with the original Leitachsgebersignal a variety of effects can be realized, which would not be possible by the sole use of the Leitachsgebersignals or the filtered Leitachsgebersignals. For example, a limitation of an angle error can be effected by a subtraction of the filtered guide shaft signal from the original Leitwellen- or Leitachsgebersignal takes place, so that the delay caused by the filtering can be limited to a maximum of the value. Further, a "turning back" of the Leitwelle by extrapolation in the filtering by in the linkage can be prevented, otherwise at lower rotational speeds of the Leitwelle or leading axis, the original Leitwellengebersignal with a higher weight in the logic signal, that in the supply device signal to be output. In this case extrapolation is not weighted as much at lower rotational speeds of the guide shaft as in a constant extrapolation for all rotational speeds of the guide shaft. At the same time, an efficient filtering, for example based on a Kalman filter, can be used to correctly detect and process special states of the rotation of the guide shaft (such as jerks).

The present invention offers the advantage that, by simply optimizing the signal processing structure, a plurality of optimization possibilities of a signal for controlling the system can be provided. For the individual aspects of the optimization, different components can be specially designed, whereby a combination of the different embodiments is also possible. As a result, optimized control or logic signals can be obtained in individual aspects, which allow control of the system while avoiding the disadvantages mentioned above. Further, the signal processing structure proposed in this approach can be implemented in a very simple way numerically or circuitally, so that the costs caused by the approach proposed here are marginal, as far as they arise at all, compared to the costs of a previous system control.

It is advantageous if the filter signal interface comprises a filter which is designed to determine from the master axis signal a filtered master axis sensor signal value. This offers the advantage that in a simple way the delivery device not only has to use an external signal, but also the filter properties of this filter are available or can be changed by the filter used in the filter signal interface in order to optimally adapt the filter properties of the filter or linking signal to the conditions of the environment of use to ensure the user.

In a particular embodiment of the invention, the linking unit can be designed to carry out at least one addition or subtraction of the filtered master axis signal value with a value of the master axis encoder signal. This offers the advantage that a numerically or circuitry-wise simple structure can be used to link the values to be linked.

Furthermore, the linking unit may also comprise a pre-linking unit and a main linking unit, wherein the pre-linking unit is configured to associate the filtered master axis signal value with a value of the master axis signal to a linked signal, and wherein the main link unit is configured, the link signal based on a combination of a value of the Leitachsgebersignals with the associated signal. Such a double linkage in the linkage unit allows a further processing of the Leitachsgebersignals or the filtered Leitachsgebersignals, whereby a greater flexibility of the presented approach is made possible.

In order to further provide a circuit-wise or numerically efficient implementation option for the present invention according to an embodiment, the pre-association unit may be designed to perform an addition or subtraction.

It is also favorable if the main linking unit is designed to carry out a limitation of the linked signal on the basis of a characteristic curve. This represents a simple and reliable way of achieving a limitation of the values of the filtered master encoder signal, whereby a limitation of the maximum angular difference can be easily realized.

In another embodiment of the invention, the combining unit may be configured to combine a value of the master axis signal and a filtered master encoder signal value into a correction value and to determine the logic signal on the basis of the correction value. This offers a further possibility of realizing a multiple connection or evaluation of the original or filtered master encoder signal, which offers a finer adjustment of the optimization possibilities.

In order to make a circuit-technical or numerical implementation simple, the linking unit can be designed to obtain the linking signal by adding or subtracting the filtered master axis signal value with the correction value.

Furthermore, the linking unit can also be designed to carry out a weighting of a combination of the filtered master axis signal value with a value of the master axis encoder signal in order to determine the correction value. This can a limitation of the value of the combination of the filtered master encoder signal value with the value of the master axis encoder signal can be achieved in order to finally ensure a limitation of the angular difference between the filtered master encoder signal and the master axis encoder signal.

An easy way to perform a limitation is when the linkage unit is designed to carry out the weighting based on a characteristic curve for determining a weighting factor, wherein the weighting factor by the characteristic in dependence on a result of the filtered Führungsachsgebersignalwertes with the value of the Leitachsgebersignals fixed or is predetermined. In this case, the limiting function can be carried out by a suitable characteristic, so that no complex calculation steps for the realization of the limiting function are required.

Also, in a further embodiment of the invention, the linking unit may be designed to perform an additional filtering of the result of the combination of the filtered master axis sensor signal value with the value of the master axis encoder signal in order to determine the weighting factor. This leads to a smoothing of the result of the combination of the filtered master encoder signal value with the value of the master axis signal, which results in a more robust limitation possibility compared to signal fluctuations.

In another embodiment of the invention, the linking unit may be formed to use a combination unit filter with a filter characteristic for the additional filtering whose corner frequencies are individually predetermined, whose cutoff frequencies have a predeterminable ratio for setting a filter or its corner frequencies a fixed ratio for setting the filter wherein the filter is the one that provides the filtered master encoder signal value. This offers the advantage that a very good adaptability of the linking unit filter for the additional filtering further improves the aforementioned properties.

Also, in another embodiment of the invention, the main linking unit or the combining unit may be configured to use a characteristic having a value of zero at the origin of a characteristic diagram whose abscissa represents a result of combining the output value of the filter or the filtered master axis signal value with the value of the master axis signal , This offers the advantage that the limitation (for example, by multiplication by a factor) of the result of the filtered master axis signal value with the value of the master axis signal is never completely canceled, so that at least a non-zero logic value is always obtained, if this value without the limitation by the characteristic would also be different from zero.

In order to perform a simple numerical or circuitry limitation, the main linking unit or a bounding unit may be configured to use a characteristic having at least partially linear sections or based on polynomials or sinoid forms. These forms of a characteristic can be easily processed.

In order to be able to adapt the provision device as quickly and flexibly as possible to the local conditions or operating conditions of a user of the system, the main linking unit or the limiting unit can be designed to use a characteristic that can be changed and / or replaced, in particular changed online and / or or interchangeable.

Very good control results are also obtained if the linking unit is designed to filter the master axis encoder signal with a linking unit filter before being linked to the filtered master axis signal value.

The linking unit can also be configured to filter the master axis encoder signal before being linked to the filtered master axis sensor signal value with a linking unit filter having a weaker filter characteristic than the filter. This offers the advantage that the effect of the filter is not canceled or distorted by the filtering of the master axis signal in the combining unit filter.

In order to also supply external equipment with the data of the provisioning device, or to make the values of the providing device accessible to a user, in another embodiment of the present invention an output interface may be provided, which is designed to be a difference between a value of the master axis signal and a value output the logic signal or the filtered Leitachsgebersignals.

For evaluation at a later time, the providing device may further comprise a memory configured to store a maximum difference between a value of the master axis generator signal and a value of the logic signal or the filtered master sensor signal.

In another or additional embodiment of the invention, the linking unit may be designed to link the filtered master axis signal value with the master axis encoder signal such that a value of the link signal only corresponds to the filtered master axis signal value if the rotational speed of the master shaft corresponds to at least one predefined or definable rotational limit speed. In this way, it can be advantageously avoided that an extrapolation of the filter effect leads to a backward rotation of the guide shaft when it is decelerated in the low rotational speed range. The filter effect is thus reduced in the low rotational speed range of the guide shaft.

In order to enable a simple and quickly implementable link, the link unit may be configured to determine the value of the link signal from the filtered master encoder signal value and the master axis encoder signal in accordance with a linkage characteristic when the rotational speed of the master shaft is lower than the predefined rotational limit speed.

In particular, when the link unit is adapted to use a linear linkage characteristic in a range of the rotational speed of the idler shaft in which the rotational speed of the idler shaft is lower than the predefined rotational limit speed, the linkage can be performed circuitically or numerically very simply by multiplication or addition / subtraction.

In order to prevent at least the filtered master axis sensor signal from always entering the logic value, the logic unit can be designed to use a linear logic characteristic which has a nonzero value when the master shaft is at a standstill.

In another embodiment, the linking device can be designed to use a non-linear connection characteristic. In this way, for example, the operational conditions of the control device can be correspondingly taken into account by the user.

In order to ensure the greatest possible flexibility in the linking, the linking characteristic can be predefinable in the linking unit or the linking unit can have an interface which is designed to enable a user to enter a linking characteristic.

Very good control due to smooth signal values can be achieved if the filter interface further comprises a filter configured to provide the filtered master encoder signal value.

In a further or additional embodiment of the invention, a filter may further be provided for providing the filtered master axis signal value via the filter interface, the filter having a Kalman filter structure. This provides very efficient and robust filtering of the master axis encoder signal.

In particular, special motion situations on the Leitwelle can be well detected and processed when the filter in a particular embodiment of the invention has a feedback structure with three cascaded integrators, wherein the cascaded integrators are formed, with information about a jerk occurring or an acceleration to be fed in the rotational movement of the guide shaft.

In order to be able to optimally and efficiently detect and process already known standard values for, for example, a jerk of the guide shaft or other usual movement situations, the filter may be designed such that at least one of the cascaded integrators has at least one definable or predefined value in the event of a jolt or a jerk Acceleration is fed in the rotational movement of the guide shaft.

A very good and fast processing of switching states of the system and the change of the movement of the guide shaft can be ensured if the filter comprises a switching point detection unit which is adapted to automatically detect information about a timing of the drive switching on the guide shaft of the system the filter is adapted to perform the filtering on the basis of this information about the timing of the drive switching.

In a further embodiment of the invention, the filter may comprise a machine control interface which is designed to provide information about a rotational speed of the guide shaft, in particular a change in the rotational speed of the guide shaft, at least one acceleration value of the guide shaft, at least one jerk value of the guide shaft, at least one desired rotational speed the guide shaft to receive at least one motor current of a motor of the system or at least one acceleration torque of the guide shaft and perform the filtering on the basis of the received information about the rotational speed of the guide shaft. These values provide good quantities for predicting changes in the travel of the idler shaft, thereby making the filter easily accessible by a conventional machine control interface output data can easily close to the change in movement of the guide shaft of the plant.

Furthermore, in another embodiment of the invention, the filter may also be configured to feed the cascaded integrators with a predefined value in response to information about the timing of the drive switching from the switch point detection unit or in response to the information about the rotation speed of the guide shaft. Such an embodiment of the invention offers the advantage that the feed with the predefined or definable value takes place when in fact the time of the drive switching is present by means of the information about the rotational speed.

Also, the filter may further include a sensor configured to provide a sensor signal representing a rotational speed or position of the master shaft, the filter being configured to perform the filtering based on the sensor signal. In this case, the provisioning device may be formed as an integral unit that does not need to resort to an externally supplied Leitachsgebersignal.

In order to ensure the greatest possible flexibility for the conditions of use of the user of the system, the filter can be designed to determine the definable value by a user input, a measuring run of the system or during the run of the system by an adjustable learning phase of the filter.

A favorable embodiment of the present invention is given when an output device is provided, which is designed to output at least one relevant for the filtering size. This offers the advantage of supplying the signal values determined by such an embodiment of the invention to further components of the installation, which display these values to a user of the installation, so that he can carry out further optimization or documentation with the signals determined, for example.

It is particularly advantageous if, in one embodiment of the present invention, a filter is also provided for providing the filtered master axis signal value via the filter interface, wherein the filter characteristic of the filter can be adapted to a current rotational speed of the guide shaft of the system. This offers a great deal of flexibility in selecting the most suitable filter characteristic that a user of the system currently needs in a particular application scenario for the system.

In order to achieve a good filter effect, it is advantageous not to design the filter characteristic of the filter fixed, but to adapt a filter time constant or a corner frequency in a fixed or in a predefinable or parameterizable ratio to the rotational speed of the guide shaft.

In order to ensure a minimum filtering effect, the filter can be designed to use a filter time constant which has a minimum value at a standstill of the guide shaft in order to obtain a cutoff frequency of greater than zero Hertz when the guide shaft is at standstill.

• – einer Bereitstellungsvorrichtung wie sie vorstehend genannt wurde; und
• – eine Steuereinheit, die ausgebildet ist, um die Anlage ansprechend auf das Verknüpfungssignal zu steuern.

In a further embodiment of the invention, a control device is provided with the following features:

• A delivery device as mentioned above; and
• A control unit configured to control the system in response to the logic signal.

Such an embodiment of the invention provides a compact and significantly improved system control over the prior art, since the control variable can be processed very well by the approach proposed here using the logic signal.

Depending on the circumstances, the method according to the invention can be implemented in hardware or software. The very simple and cost-effective implementation can be done on digital storage media, in particular a floppy disk or CDROM, EPROM or flash memory with electronically readable control signals, which can interact with a programmable computer system so that the corresponding method is performed. In general, the invention thus also consists in a computer program product with a program code stored on a machine-readable carrier for carrying out the method according to the invention, when the computer program product runs on a data processing system. In other words, the invention can thus be realized as a computer program with a program code for performing steps of the method when the computer program runs on a computer or a data processing system.

The invention will now be described by way of example with reference to the accompanying figures. It shows:

1 a block diagram of a first embodiment of the present invention;

2 a block diagram of a first variant of the in 1 illustrated embodiment;

3 a diagram of the angle difference occurring when using the in 2 exemplary embodiment illustrated;

4 a block diagram of a second variant of the in 1 illustrated embodiment;

5 a partial representation of components 4 (as 4 ' ) and a representation of possible usable characteristics for the 4 ' illustrated unit of a second variant of in 1 illustrated embodiment;

6 a block diagram of a second embodiment of the present invention;

7 a block diagram of a third embodiment of the present invention; and

8th a flowchart of an embodiment of the present invention as a method.

Any dimensions and dimensions given are exemplary only, so the invention is not limited to these dimensions and dimensions. The same or similar elements are provided below with the same or similar reference numerals. Furthermore, the figures of the drawings, the description and the claims contain numerous features in combination. It is clear to a person skilled in the art that these features can also be considered individually or they can be combined to form further combinations not explicitly described here.

The essence of the invention consists essentially of three applicable measures forming individual embodiments of the present invention. In addition, there are additional, improving measures, specifically for each of the three applicable measures mentioned. However, the three measures mentioned above can also be used together to achieve additional improvement in the control of a plant.

The three measures relate in particular to the aspects and sub-aspects of the exemplary embodiments mentioned below:

• - Limiting the maximum angular difference between Leitwellenposition and filtered Leitachsposition for example by
• - observation / monitoring of filter input and filter sizes (filter output, internal filter sizes)
• - Derivation of correction values
• - Apply the correction values to the filtered signal
• Limiting / reducing the reverse rotation of the filtered position, for example by
• - Fade out the filter effect
• - Optimization of the filter itself, for example by
• - Use of Kalman filters and / or in combination with
• - Knowledge / determination of the expected accelerations / jerks
• - Adaptation of the filter time constant / corner frequency, this measure can also be used in connection with all the above aspects.

1 shows a block diagram of a first embodiment of the present invention. The delivery device 100 includes a filter signal interface 110 which is formed, an (unfiltered) Leitwellengebersignal 120 and a filtered master shaft signal 130 provide. The Leitwellengebersignal 120 represents a sensor value, for example with respect to a rotational speed or a position of the guide shaft of the system. Furthermore, the delivery device comprises 100 a linking unit 140 , which is formed, the filtered Leitwellengebersignal 130 or a value thereof with the (unfiltered) Leitwellengebersignal 120 or a value thereof, to a link signal 150 to obtain. Furthermore, a control device may be provided, which is the provision device 100 and a control unit 160 includes, wherein the control unit 160 is formed, the plant on the basis of the logic signal 150 to control.

In a specific embodiment of the present invention, the filter signal interface 110 also a filter 170 even include (this is in 1 represented by the dotted line), which consists of the (unfiltered) Leitwellengebersignal or Leitachsgebersignal 120 the filtered master shaft signal 130 provided. The filter 170 may be a conventional (analog or digital) filter or an improved filter variant as described with reference to FIG 7 is shown in more detail. The linking unit 140 can be a pre-linking unit 180 formed, which is the filtered Leitwellengebersignal 130 with the (unfiltered) Leitwellengebersignal 120 to link and a corresponding linked signal 190 a main linking unit 200 to provide. The main linking unit 200 can the linked signal 190 for determining the logic signal 150 use.

Based on the observation of the unfiltered measured value or sensor value 120 and filter values 130 respectively. 190 (for example, in the block of Vorverknüpfungseinheit 180 ) are certain links between filtered 130 respectively. 190 and unfiltered reading 120 executed (for example in the block of the main linking unit 200 ). Filter values can be the values 130 from the filter output and / or filter internal values (for example, like the link unit internal value 190 to the pre-linking unit 180 ) be.

A first embodiment variant for the filter signal interface 110 and the linking unit 140 is in 2 played. The filter signal interface 110 according to 2 includes the filter 170 , The linking unit 140 includes the pre-linking unit 180 , which is formed for example from an adding and / or subtracting unit. The filter 170 is with the Leitwellengebersignal 120 applied to a filtered Leitwellengebersignal 130 to generate, wherein the Vorverknüpfungseinheit 180 the filtered master shaft signal 130 with the unfiltered master shaft signal 120 linked to a pre-linked filtered master wave signal 190 (which corresponds for example to a following error of the guide shaft). The linking unit 140 further comprises the main linking unit 200 , for example, from a limitation unit 210 and an addition or subtraction unit 220 consists. The main linking unit 200 is thus configured, for example, the amplitude values of the pre-linked filtered master shaft signal 190 in the limitation unit 210 to limit and subsequently a value of an output signal of the limiting unit 210 in the addition or subtraction unit 220 with the (unfiltered) Leitwellengebersignal 120 additively or subtractively. This can be a link signal 150 to be obtained, which is sent to the control unit 160 is forwarded.

The behavior of in 2 shown as a block diagram embodiment is in 3 played. On the abscissa of the diagram 3 is the time t applied. On the ordinate of the diagram 3 are positions such. B. the unfiltered master position 120 , the filtered master position 130 and the filter output value 150 shown. In case of occurring phase difference - in 3 Using the example of an acceleration process - this is limited to a certain limit by the filter effect is reduced. This will be in 3 It can be seen by the fact that for small differences between the signals "input" (upper graph with a circle) and "output without limitation" (lower graph with a square) the full filtering (smoother signal) in the signal "output with limitation" (middle graph with a triangle). This is particularly evident in the time range of less than 1 second and greater than 5 seconds. For larger deviations, these differences are limited, but the filter effect is then ineffective at a certain point, ie the unfiltered input signal is given to the output with a maximum angular difference.

Another embodiment of the linking unit 140 in conjunction with the filter signal interface 110 is in 4 shown. This is the pre-linking unit 180 (which again consists for example of an addition or subtraction unit) with the original one 120 and the filtered one 130 Leitwellengebersignal applied. From these two signals, a following error signal dx is determined and the limitation unit 210 fed, which is a weighting factor 400 certainly. Furthermore, the following error signal dx becomes a weighting unit 410 (for example, in the form of a multiplier) with the weighting factor weighted to the resulting weighted signal of the main linking unit 220 (which may also be an addition and / or subtraction unit) which supplies the logic signal 150 certainly.

According to the in 4 described embodiment, the limiting unit 210 have different versions of the limiting function, as for example, as characteristics in the 5 are shown. 5 includes a section of 4 (here as 4 ' ) to designate the relevant elements to which the characteristics are based 5 Respectively. In 5 in the upper left representation a characteristic curve is reproduced, with which no filtering takes place; the weighting factor thus has a constant value (of for example 1). The upper right-hand curve shows a "hard" limitation in which the weighting factor in an abscissa section around the origin assumes the value zero, but otherwise has a constant value. In the lower left characteristic, a "soft" boundary is shown in which the weighting factor in an abscissa area around the origin assumes a linear decreasing or increasing value, wherein it has a constant value in the remaining abscissa area. In the lower right representation of a characteristic curve for the limitation unit 210 a "soft" boundary is displayed with windowing, wherein the weighting factor assumes the value zero in a first abscissa area around the origin, assumes a linearly falling or rising value in the adjoining abscissa areas and has a constant value in the remaining abscissa area. The characteristics, as exemplified in 5 may be used in a delimiter, may alternatively include bends (such as polynomials or sinusoidal shapes instead of the linear slope in the soft-edge characteristic), so that sectional processing is not required.

• – Es sind verschiedene Filterstrukturen verwendbar, d. h. die Struktur kann mit den vorhandenen Filtern kombiniert werden.
• – Es sind verschiedene Kennlinien möglich. Die Kennlinien können dabei auswählbar sein, und/oder die Werte der Kennlinien können vorgebbar sein. Die Kennlinien können auch online änderbar bzw. online wechselbar sein.

The above variants of the first embodiment of the invention have the following properties:

• - Different filter structures can be used, ie the structure can be combined with the existing filters.
• - Different characteristics are possible. The characteristic curves can be selectable, and / or the values of the characteristic curves can be predefinable. The characteristic curves can also be changed online or exchanged online.

• – Es kann eine zusätzliche Filterung ausgeführt werden (beide Maßnahmen entsprechend den vorstehenden beiden Ausführungsbeispielvarianten können dann unabhängig voneinander ausgeführt werden):
• – Das ungefilterte Signal wird mit einem zusätzlichen Filter mit typischerweise geringerer Filterwirkung gefiltert. Dies bedeutet, dass z. B. in 4 zwischen dem Eingang und dem „–„ Eingang der Vorverknüpfungseinheit 180 ein weiteres Filter enthalten bzw. implementiert ist.
• – Die ermittelte (Schleppfehler-)Differenz „dx” kann mittels eines zusätzlichen Filters gefiltert werden. Dies bedeutet, dass z. B. in 4 zwischen der Vorverknüpfungseinheit 180 und der Begrenzungseinheit 210 ein weiteres Filter enthalten sein kann.
• – Die Eckfrequenzen der zusätzlichen Filterung kann dabei entweder
• – einzeln vorgebbar sein (z. B. per Parameter).
• – ein vorgebbares Verhältnis zur Einstellung des Glättungsfilters besitzen (z. B. als Faktor der Eckfrequenzen per Parameter vorgebbar sein).
• – ein festes Verhältnis zur Einstellung des Glättungsfilters besitzen (z. B. ein Faktor der Eckfrequenzen ist in der Bereitstellungsvorrichtung fest programmiert).
• – Es kann eine Ausgabe der aktuellen Winkeldifferenz zur Diagnose z. B. auf einem Oszilloskop oder allgemein einer Ausgabeeinheit erfolgen.
• – Es kann eine Speicherung einer maximal aufgetretenen Winkeldifferenz zur Diagnose erfolgen (beispielsweise als ”Schleppzeiger”, mit Rücksetzmöglichkeit).

Furthermore, further additional options mentioned below by way of example are possible:

• Additional filtering can be carried out (both measures according to the above two exemplary embodiments can then be carried out independently of one another):
• - The unfiltered signal is filtered with an additional filter with typically less filtering effect. This means that z. In 4 between the input and the "-" input of the preallocation unit 180 another filter is included or implemented.
• - The determined (following error) difference "dx" can be filtered by means of an additional filter. This means that z. In 4 between the pre-linking unit 180 and the limitation unit 210 another filter can be included.
• - The corner frequencies of the additional filtering can either
• - be individually definable (eg by parameter).
• - Have a predeterminable ratio to the setting of the smoothing filter (eg be predefined as a factor of the corner frequencies per parameter).
• - have a fixed relation to the setting of the smoothing filter (eg a factor of cutoff frequencies is permanently programmed in the provisioning device).
• - It can be an output of the current angle difference to the diagnosis z. B. on an oscilloscope or generally an output unit.
• - It can be a storage of a maximum occurred angle difference for diagnosis done (for example, as "drag pointer", with reset option).

In a second embodiment of the present invention, a limitation or reduction of the reverse rotation of the filtered position can take place. This can be realized, in particular, by reducing the filtering effect at low speeds, so that the behavior of the reverse rotation of the filtered position in the system is reduced or eliminated. This is achieved, for example, by using the filtered or unfiltered encoder speed values to modify or generate a mixing factor for the filtered or unfiltered link value (for example, per (continuous) characteristic curve). In 6 Fig. 12 is a block diagram of the structure of the second embodiment. In this case, the linking unit comprises 140 an input for a signal representing the rotational speed and an evaluation unit 600 which determines a ratio factor a between the values 0 and 1 at a rotational limit speed ω _{1 of} the guide shaft. In the embodiment according to 6 This ratio factor a is formed by a linear relationship between the value zero at standstill of the guide shaft and a value of 1 when the limit speed ω ₁ through the guide shaft. By a subsequent weighting unit 610 the link signal is then determined such that a value of the unfiltered Leitwellengebersignals 120 with a weight of 1 - a in the logic signal 150 is taken into account and that through the filter 170 filtered master shaft signal 130 with a weight of a in the logic signal 150 is taken into account.

• – Sie kann einerseits fest vorgegeben sein.
• – Alternativ oder zusätzlich kann sie auch durch den Anwender vorgebbar oder veränderbar sein; beispielsweise kann neben der Geschwindigkeit der Leitwelle, bei dem die Kennlinie den Wert „1” annimmt (d. h. der Grenzgeschwindigkeit ω₁) auch der Kennlinienwert bei einem Stillstand der Leitwelle (d. h. einer Geschwindigkeit von 0) angegeben werden, so dass das gefilterte Leitwellengebersignal 130 bei einer Geschwindigkeit von 0 nicht komplett ohne Gewicht in dem Verknüpfungssignal berücksichtigt ist.

The characteristic curve of the evaluation unit can have the following properties:

• - It can be fixed on the one hand.
• Alternatively or additionally, it can also be predetermined or changed by the user; For example, in addition to the speed of the Leitwelle in which the characteristic assumes the value "1" (ie, the limit speed ω ₁ ) and the characteristic value at a standstill of the Leitwelle (ie a speed of 0) are specified, so that the filtered Leitwellengebersignal 130 at a speed of 0 is not completely considered without weight in the logic signal.

• – Geschwindigkeit (d. h. das der Auswertungseinheit 600 zugeführte Signal) mit einem eigenen Filter mit fester oder vorgebbarer Filtereigenschaft (z. B. Eckfrequenz, Filterordnung) gefiltert werden. Einfacherweise kann jedoch die vom Leitachsfilter gefilterte Geschwindigkeit verwendet werden, so dass die Auswertungseinheit 600 durch das gefilterte Leitwellengebersignal 130 gespeist wird.
• – eine von mehreren verschiedenen Filterkennlinien auswählbar sein, die nicht zwingend lineare Kennlinienäste beinhalten müssen.

Optionally, the

• - Speed (ie that of the evaluation unit 600 supplied signal) with its own filter with a fixed or predefinable filter property (eg corner frequency, filter order) are filtered. However, simply the speed filtered by the master axis filter can be used so that the evaluation unit 600 through the filtered master shaft signal 130 is fed.
• - One of several different filter characteristics to be selectable, which need not necessarily include linear characteristic branches.

In a third embodiment of the present invention, optimization of the filter can be seen as a central starting point for improvement. In particular, when the jerks and accelerations occurring in a machine are constant in the case of changes in speed, it is possible to use a Kalman filter with a polynomial structure and / or a Switch point detection with specification of the occurring variables the filter or the filter property are optimized.

The polynomial structure results from the fact that the velocity can be determined by integration of the acceleration or two-fold integration of the jerk. If the occurring jerk or the occurring acceleration is now known or ascertainable, then this knowledge can be used to switch over the integrators of the polynomial filter structure.

In 7 Fig. 12 is a block diagram of a structure of the third embodiment shown in more detail, showing the structure for processing acceleration values. However, another integrator can be added to obtain a structure that also allows for the processing of a jerk and the consideration of known jerk values.

In the 7 illustrated structure of a filter 170 can be described as follows. An unfiltered master shaft signal 120 is in a first linking unit 700 , which may be, for example, an addition or subtraction unit, with the filtered Leitwellengebersignal 130 (which for example represents an estimation angle) linked to a signal 710 to obtain, which corresponds to a following error. The following error signal 710 can be a switching point detection unit 720 be fed, which allows detection of a machine switching point and thus a load change to the Leitwelle. One from the switching point detection unit 720 output signal may be a data type conversion unit 730 be converted and the converted signal on the one hand to a first integrator I3 supplied. Furthermore, this can be done by the data type conversion unit 730 converted signal of a switching unit 740 which is adapted to continue to supply constant or at least definable values to the first integrator in response to the supplied signal. In 7 these determinable values are represented by the exemplary variables C2 = 1.9 and C1 = 0, which correspond, for example, to acceleration values or jerk values for stopping the guide shaft and a constant rotational speed of the guide shaft, respectively. The first integrator I3 is further supplied with the following error signal weighted with a Kalman weighting factor K3. From the quantities supplied, the first integrator can determine an estimated acceleration signal, which in a second linking unit 750 (which, for example, may also be an addition or subtraction unit) is associated with a following error signal weighted by a second Kalman weighting factor K2. That of the second linking unit 750 provided signal can be supplied to a second integrator I2, which determines therefrom an estimated speed signal. This estimated speed signal may be in a third link unit 760 with a following error signal which has been weighted by a third Kalman weighting factor K1 (for example additive or subtractive). That of the third linking unit 760 provided signal may then in a third integrator I1 to the filtered Leitwellengebersignal 130 which represents an estimation angle or position upon rotation of the master shaft. The filtered master shaft signal 130 can thus also an output signal of the filter 170 represent.

• – Wie in 7 dargestellt, kann dies selbständig von einer Schaltpunkterkennungseinheit 720 ermittelt werden.
• – Die Maschinensteuerung, die die Maschinengeschwindigkeit vorgibt, kann z. B. mittels eines oder mehrerer binären Signale einen Wechsel der Geschwindigkeit anzeigen (dies entspricht einer ”Vorankündigung des Schaltpunktes” durch eine Maschinensteuerung der Anlage, die über eine Maschinensteuerungsschnittstelle der Steuervorrichtung mitgeteilt werden kann).
• – Die Maschinensteuerung, die die Maschinengeschwindigkeit vorgibt, kann Daten an das Leitachsgeberfilter beispielsweise über eine Maschinensteuerungsschnittstelle übertragen. Hierbei können beispielsweise
• – Beschleunigungswerte
• – Ruckwerte
• – Soll-Geschwindigkeiten
• – Motorströme (z. B. der drehmomentbildende Strom)
• – Beschleunigungsmomente

analog oder über einen Feldbus übertragen werden.

• – Die Steuervorrichtung, die das Leitachsfilter rechnet (soweit dies digital implementiert ist) kann Signale auch selbständig mittels eigens angebrachter weiterer Sensoren messen. Dies ist insbesondere für die Größen ”Motorströme”, ”Beschleunigungsmomente” möglich.

The recognition of the occurring acceleration or the occurring jerk can be done in different ways:

• - As in 7 this can be done independently by a switch point detection unit 720 be determined.
• - The machine control, which dictates the machine speed, z. B. by means of one or more binary signals indicate a change in speed (this corresponds to a "advance notice of the switching point" by a machine control of the system, which can be communicated via a machine control interface of the control device).
• The machine control, which sets the machine speed, can transmit data to the master axis encoder filter, for example via a machine control interface. This can, for example
• - acceleration values
• - Jerk values
• - Target speeds
• - Motor currents (eg the torque-forming current)
• - acceleration moments

be transferred analog or via a fieldbus.

• - The control device, which calculates the Leitachsfilter (as far as this is digitally implemented) can also measure signals independently by means of specially attached additional sensors. This is possible in particular for the variables "motor currents", "acceleration torques".

• – Eingabe durch den Bediener (parametrierbar)
• – anhand einer Messfahrt kann die Steuervorrichtung, die das Leitachsfilter rechnet, diese Werte selbständig anhand der Geberdaten ermitteln. Die Messfahrt und deren Auswertung kann dabei manuell oder automatisiert erfolgen.
• – Die Werte können online während des Maschinenlaufs in einer ”Lernphase” oder ständig ermittelt werden. D. h. während einer Beschleunigungsphase werden Daten des Gebers aufgezeichnet, die daraufhin ausgewertet werden und bei den nächsten Geschwindigkeitsänderungen im Filter berücksichtigt werden können (dies entspricht einer Adaption von verschiedenen Größen).

The determination of the jerk or acceleration values can be carried out as follows:

• - input by the operator (parameterizable)
• - Based on a test drive, the control device, which calculates the Leitachsfilter, determine these values independently based on the encoder data. The test drive and its evaluation can be done manually or automatically.
• - The values can be determined online during the machine run in a "learning phase" or constantly. Ie. During an acceleration phase, data of the encoder are recorded, which are then evaluated and taken into account in the next speed changes in the filter (this corresponds to an adaptation of different sizes).

The variables determined and measured during a measurement run or adaptation can be displayed on a HMI (HMI = human machine interface = human-machine interface) as diagnostic variables.

In a further embodiment of the present invention, which relates to the previous embodiments in common and further improves them, an adaptation of the filter time constant or the corner frequency of the filter can be performed. The filter property can be adapted in particular also to the current machine speed or the rotational speed of the guide shaft. For example, the filter time constant or corner frequency can be adjusted in a fixed or in a predefinable (parameterizable) ratio to the machine speed. In turn, the machine speed can be used with its own filter, without its own filter or as a Leitachsfilterausgang. Optionally, the filter time constant at machine standstill can have a minimum value in order to obtain a cutoff frequency> 0 Hz when the machine is at a standstill.

8th Finally, a flow chart of another embodiment of the invention as a method 800 for providing a link signal 150 for controlling a system which is a master axis encoder signal 120 which represents a rotational speed or position of a guide shaft of the system. The procedure 800 includes a first step of providing 810 of the master axis signal 120 and a filtered master encoder signal value 130 representing a value resulting from a filtering of the master axis signal 120 is won. In a second step, linking takes place 820 of the filtered master encoder signal value 130 with a value of the master axis encoder signal 120 to the link signal 150 to obtain.

LIST OF REFERENCE NUMBERS

100

Providing device

110

Filter signal interface

120

Master axis encoder signal, master shaft encoder signal

130

filtered master axis encoder signal, filtered master shaft signal

140

linking unit

150

link signals

160

control unit

170

filter

180

Vorverknüpfungseinheit

190

Pre-linked signal, correction value dx, following error difference

200

Main logic unit

210

limiting unit

220

Addition or subtraction unit

400

Weighting factor

410

Weighting unit

420

weighted correction value

600

evaluation unit

610

weighting unit

700

first linking unit

710

Following error signal

720

Switching point detection unit

730

Data type conversion unit

740

switching unit

750

second linking unit

760

third linking unit

I3

first integrator

I2

second integrator

I1

third integrator

800

Method for providing a link signal 150 for controlling a plant

810

Step of providing the master axis signal 120 and a filtered master encoder signal value 130

820

Linking the filtered master encoder signal value 130 with a value of the master axis encoder signal 120

Claims (40)

Provisioning device ( 100 ) for providing a link signal ( 150 ) for controlling a plant by a control unit ( 160 ), wherein the system provides a master axis signal which represents a rotational speed or a position of a guide shaft of the system, characterized in that the following features are included: a filter signal interface ( 110 ), which is designed to receive the master axis signal ( 120 ) and a filtered master encoder signal value ( 130 ), which represents a value resulting from a filtering of the master axis signal ( 120 ) is won; and a linking unit ( 140 ), which is designed to determine the filtered master encoder signal value ( 130 ) with a value of the master axis encoder signal ( 120 ) to connect the link signal ( 150 ) to control the plant, the linking unit ( 140 ) a pre-linking unit ( 180 ) and a main linking unit ( 200 ), wherein the pre-linking unit ( 180 ) is configured, the filtered Leitachsgebersignalwert ( 130 ) with a value of the master axis encoder signal ( 120 ) to a pre-linked signal ( 190 ) and wherein the main linking unit ( 200 ) is formed, the logic signal ( 150 ) for controlling the system on the basis of a combination of a value of the master axis signal ( 120 ) with the pre-connected signal ( 190 ). Provisioning device ( 100 ) according to claim 1, characterized in that the filter signal interface ( 110 ) a filter ( 170 ) which is designed to extract from the master axis signal ( 120 ) the filtered master encoder signal value ( 130 ). Provisioning device according to one of claims 1 or 2, characterized in that the linking unit ( 140 ) is formed, at least one addition or subtraction of the filtered Leitachsgebersignalwertes value ( 130 ) with a value of the master axis encoder signal ( 120 ). Provisioning device ( 100 ) according to claim 3, characterized in that the pre-linking unit ( 180 ) is adapted to perform an addition or subtraction. Provisioning device ( 100 ) according to one of claims 3 or 4, characterized in that the main linking unit ( 200 ), a boundary of the pre-connected signal ( 190 ) on the basis of a characteristic curve. Provisioning device ( 100 ) according to one of claims 1 to 5, characterized in that the pre-connected signal ( 190 ) is a correction value (dx), in particular a following error difference (dx). Provisioning device ( 100 ) according to claim 6, characterized in that the linking unit ( 140 ), a weighting ( 410 ) of the correction value (dx) for determining a weighted correction value ( 420 ). Provisioning device ( 100 ) according to one of claims 6 or 7, characterized in that the linking unit ( 140 ) is formed, the logic signal ( 150 ) by an addition or subtraction ( 220 ) of the filtered master encoder signal value ( 130 ) with the weighted correction value ( 420 ) to obtain. Provisioning device ( 100 ) according to claim 7 or 8, characterized in that the linking unit ( 140 ), the weighting ( 410 ) on the basis of a characteristic curve of a limitation unit ( 210 ) for determining a weighting factor ( 400 ), the weighting factor ( 400 ) is predetermined or determinable by the characteristic as a function of the correction value (dx). Provisioning device ( 100 ) according to claim 9, characterized in that the linking unit ( 140 ) is designed to determine the weighting factor ( 400 ) perform an additional filtering of the correction value (dx). Provisioning device ( 100 ) according to claim 10, characterized in that the linking unit ( 140 ) is designed to use for the additional filtering a combination unit filter with a filter characteristic whose corner frequencies are individually predetermined, whose cutoff frequencies have a predeterminable ratio for setting a filter ( 170 ) or whose corner frequencies have a fixed relationship to the setting of the filter ( 170 ), the filter ( 170 ) is the one which filters the filtered master encoder signal value ( 130 ). Provisioning device ( 100 ) according to claim 5 or 9 to 11, characterized in that the main linking unit ( 200 ) or the limitation unit ( 210 ) is designed to use a characteristic which has a value of zero at the origin of a characteristic diagram, the abscissa of which is a result of the connection of the filtered master axis signal value ( 130 ) with the value of the master axis encoder signal ( 120 ) maps. Provisioning device ( 100 ) according to claim 5 or 9 to 12, characterized in that the main linking unit ( 200 ) or the limitation unit ( 210 ) is adapted to use a characteristic which has at least partially linear sections or is based on polynomials or sinoid forms. Provisioning device ( 100 ) according to one of claims 12 or 13, characterized in that the main linking unit ( 200 ) or the limitation unit ( 210 ) is designed to use a characteristic that is changeable and / or interchangeable, in particular online changeable and / or interchangeable. Provisioning device ( 100 ) according to one of claims 1 to 14, characterized in that the linking unit ( 140 ), the master axis signal ( 120 ) before linking with the filtered master encoder signal value ( 130 ) with a link unit filter. Provisioning device ( 100 ) according to claim 15, characterized in that the linking unit ( 140 ), the master axis signal ( 120 ) before linking with the filtered master encoder signal value ( 130 ) with a Filtering mesh unit filter that has a weaker filtering effect than the filter ( 170 ). Provisioning device ( 100 ) according to any one of claims 1 to 16, characterized in that an output interface is provided, which is formed, a difference between a value of the Leitachsgebersignals ( 120 ) and a value of the logic signal ( 150 ) or the filtered master encoder signal ( 130 ). Provisioning device ( 100 ) according to any one of claims 1 to 17, characterized in that it further comprises a memory, which is formed, a maximum occurred difference between a value of the Leitachsgebersignals ( 120 ) and a value of the logic signal ( 150 ) or the filtered master encoder signal ( 130 ) save. Provisioning device ( 100 ) according to one of claims 1 to 18, characterized in that the linking unit ( 140 ) is configured, the filtered Leitachsgebersignalwert ( 130 ) with the master axis sensor signal ( 120 ) such that a value of the logic signal ( 150 ) only then the filtered master encoder signal value ( 130 ) corresponds to when the rotational speed of the guide shaft at least a predefined rotational limit speed (ω ₁ ) corresponds. Provisioning device ( 100 ) according to claim 19, characterized in that the linking unit ( 140 ) is formed, the value of the logic signal ( 150 ) from the filtered master encoder signal value ( 130 ) and the master axis signal ( 120 ) according to a linkage characteristic when the rotational speed of the master shaft is lower than the predefined rotational limit speed (ω ₁ ). Provisioning device ( 100 ) according to claim 20, characterized in that the linking unit ( 140 ) is adapted to use a linear linkage characteristic in a range of the rotational speed of the guide shaft in which the rotational speed of the guide shaft is lower than the predefined rotational limit speed (ω ₁ ). Provisioning device ( 100 ) according to claim 21, characterized in that the linking unit ( 140 ) is adapted to use a linear connection characteristic having a non-zero value at a standstill of the guide shaft. Provisioning device ( 100 ) according to claim 20, characterized in that the linking unit ( 140 ) is adapted to use a non-linear logic characteristic. Provisioning device ( 100 ) according to one of claims 20 to 23, characterized in that in the linking unit ( 140 ) the linking characteristic is definable or the linking unit ( 140 ) has an interface adapted to enable a user to input a link characteristic to be used. Provisioning device ( 100 ) according to one of claims 19 to 24, characterized in that the filter interface ( 110 ) a filter ( 170 ), which is designed, the filtered Leitachsgebersignalwert ( 130 ). Provisioning device ( 100 ) according to claim 2, characterized in that the filter ( 170 ) has a Kalman filter structure for providing the filtered master axis signal value. Provisioning device ( 100 ) according to claim 26, characterized in that the filter ( 170 ) has a feedback structure with three cascaded integrators (I3, I2, I1), wherein the cascaded integrators (I3, I2, I1) are adapted to be fed with information about an occurring jerk or an acceleration in the rotational movement of the guide shaft , Provisioning device ( 100 ) according to claim 27, characterized in that the filter ( 170 ) is designed such that at least one of the cascaded integrators (I3, I2, I1) is supplied with at least one definable or predefined value in the event of a jolt or an acceleration in the rotational movement of the guide shaft. Provisioning device ( 100 ) according to one of claims 26 to 28, characterized in that the filter ( 170 ) a switching point recognition unit ( 720 ), which is designed to independently detect information about a time of the drive switching on the guide shaft of the system, wherein the filter ( 170 ) is adapted to perform the filtering on the basis of this information about the timing of the drive switching. Provisioning device ( 100 ) according to one of claims 26 to 29, characterized in that the filter ( 170 ) comprises a machine control interface, which is formed, information about a rotational speed of the Leitwelle, in particular a change in the rotational speed of the Leitwelle, at least one acceleration value of the Leitwelle, at least one Jerk value of the Leitwelle, at least one desired rotational speed of the Leitwelle, at least one motor current of a motor the system or at least receive an acceleration torque of the Leitwelle and the filtering on the basis of the received information via the rotational speed of the guide shaft. Provisioning device ( 100 ) according to one of claims 28 and 29 or 31, characterized in that the filter ( 170 ) is formed, the cascaded integrators (I3, I2, I1) in response to information about the timing of the drive switching from the Schaltpunkterkennungseinheit ( 720 ) or in response to the information about the rotational speed of the guide shaft with a predefined or definable value (C1, C2) to feed. Provisioning device ( 100 ) according to one of claims 26 to 31, characterized in that the filter ( 170 ) further comprises a sensor, which is formed, a sensor signal ( 120 ), which represents a rotational speed of the guide shaft, wherein the filter ( 170 ), the filtering based on the sensor signal ( 120 ). Provisioning device ( 100 ) according to claim 28, characterized in that the filter ( 170 ) is formed, the definable value by a user input, a measuring run of the system or during the running of the system by an adjustable learning phase of the filter ( 170 ) to investigate. Provisioning device ( 100 ) according to one of claims 26 to 33, characterized in that an output device is provided, which is designed to output at least one relevant for the filtering size. Provisioning device ( 100 ) according to claim 2, characterized in that further the filter ( 170 ) for providing the filtered master encoder signal value ( 130 ) via the filter interface ( 110 ) is provided, wherein the filter property is adaptable to a current rotational speed of the guide shaft of the system. Provisioning device ( 100 ) according to claim 35, characterized in that the filter ( 170 ) is adapted to adapt a filter time constant or a corner frequency in a fixed or in a predeterminable or parameterizable ratio to the rotational speed of the guide shaft. Provisioning device ( 100 ) according to one of claims 35 or 36, characterized in that the filter ( 170 ) is adapted to use a filter time constant, which has a minimum value at a standstill of the guide shaft to obtain a corner frequency of greater than zero Hertz at standstill of the guide shaft. Control device comprising: - a provisioning device ( 100 ) according to any one of claims 1 to 37; and a control unit ( 160 ) configured to operate the system in response to the logic signal ( 150 ) to control. Procedure ( 800 ) for providing a link signal ( 150 ) for controlling a plant by a control unit ( 160 ), which is a master axis signal ( 120 ), which represents a rotational speed or a position of a guide shaft of the installation, characterized in that the following steps are included: 810 ) of the master axis signal ( 120 ) and a filtered master encoder signal value ( 130 ), which represents a value resulting from a filtering of the master axis signal ( 120 ) is won; and - linking ( 820 ) of the filtered master encoder signal value ( 130 ) with a value of the master axis encoder signal ( 120 ) to generate a link signal ( 150 ) to control the plant, wherein when linking ( 820 ) the filtered master encoder signal value ( 130 ) with a value of the master axis encoder signal ( 120 ) to a pre-linked signal ( 190 ) and where the link signal ( 150 ) for controlling the system on the basis of a combination of a value of the master axis signal ( 120 ) with the pre-connected signal ( 190 ) is determined. A computer program with program code for performing steps of the method according to claim 39, when the computer program is executed on a data processing system.

Images