WO2006042842A1 - Procede et dispositif de mise en service et de reglage d'un mecanisme d'entrainement - Google Patents

Procede et dispositif de mise en service et de reglage d'un mecanisme d'entrainement Download PDF

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Publication number
WO2006042842A1
WO2006042842A1 PCT/EP2005/055323 EP2005055323W WO2006042842A1 WO 2006042842 A1 WO2006042842 A1 WO 2006042842A1 EP 2005055323 W EP2005055323 W EP 2005055323W WO 2006042842 A1 WO2006042842 A1 WO 2006042842A1
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WO
WIPO (PCT)
Prior art keywords
model
route
drive
control
track
Prior art date
Application number
PCT/EP2005/055323
Other languages
German (de)
English (en)
Inventor
Alexander Kubik
Alexander Kühnlein
Stefan KÜNZEL
Theo Reichel
Elmar SCHÄFERS
Christoph Wurmthaler
Original Assignee
Siemens Aktiengesellschaft
Friedrich-Alexander- Universität Erlangen-Nürnberg
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 Siemens Aktiengesellschaft, Friedrich-Alexander- Universität Erlangen-Nürnberg filed Critical Siemens Aktiengesellschaft
Publication of WO2006042842A1 publication Critical patent/WO2006042842A1/fr

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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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Definitions

  • the present invention relates to a method and a device for starting up a controlled drive by creating a track model that reflects the frequency behavior of a track into which the drive is integrated, and implementing a control algorithm based on the track model.
  • the present invention relates to a method and a device for regulating a drive by taking into account a track model which reproduces the frequency response of a track into which the drive is integrated, in at least one control component.
  • an APC control structure can be used.
  • APC control structures reference is made to Patent DE 102 46 093 C1.
  • This method is also based on frequency characteristics, so that critical line poles can be adequately influenced only under certain conditions. Targeted specification of poles of the controlled system (natural frequency and damping) is not possible.
  • the object of the present invention is thus to improve the damping of natural frequencies in drive controls or to influence the dynamic behavior by specific polarity.
  • this object is achieved by a method for starting up a controlled drive by creating a system model that reproduces the frequency behavior of a route in which the drive is integrated, and implementing a control algorithm based on the line model, wherein the Track model is parametric and at least one of the parameters of the track model is changed.
  • the invention provides a method for controlling a drive by taking into account a track model that reproduces the frequency response of a track into which the drive is integrated, in at least one control component, wherein the track model is parametric and at least one of the parameters of Track model is verän ⁇ derbable.
  • the invention also provides a device for starting up a regulated drive with a diagnostic device for obtaining track data on the frequency response of a route into which the drive can be integrated, and a computing device with which the route data is automatically or partially automated - a parametric system model can be calculated.
  • the invention proposes a Vorrich ⁇ processing for controlling a drive with at least one Rege ⁇ lung component, in which a line model, the behavior of the frequency of a track, in which the drive is integrated reproduces, is berückschreibbar, wherein the system model is parametric and in the at least one control compo- at least one of the parameters of the route model can be changed.
  • an implementable control algorithm is created from the system model, which is subsequently implemented in its
  • Complexity in particular its order, is reduced.
  • the eigenfrequencies of the system or of the route can therefore be exactly taken into account for the controller design.
  • the control algorithm can then be reduced to a complexity or order that does justice to the computing performance of the system.
  • control algorithm may initially have m-th order and be reduced to an order smaller than m by means of the n-th order path model, where n> m.
  • a model-based control method initially generates a control algorithm of specific complexity from an n-th order of a path model.
  • the complexity can be expressed, for example, in the order m of the control algorithm. If, as indicated above, a realization of the controller with high complexity is not possible due to the computing power, the complexity of the control algorithm must be reduced. This is possible because in the determination of the complexity-reduced controller, the original n-th order plug-in model is used.
  • a damping measure for one or more specific natural oscillations of the route can be changed. This makes it possible for the operator when commissioning the system to shift the poles of the controlled system continuously into the range of higher damping by varying a few parameters.
  • control structure may be a slightly modified APC control structure.
  • FIG 2 modeled frequency characteristics of the controlled system
  • FIG 3 shows a control circuit according to the invention according to a first embodiment
  • FIG. 4 shows a control circuit according to the invention according to a second embodiment.
  • the behavior of a path to be controlled can be determined by its frequency characteristic curves.
  • the frequency characteristics with respect to amplitude and phase are shown for a system which has four maxima in the measured frequency range.
  • a 10-order differential equation is necessary because in addition to the four conjugate complex poles a double pole must be considered in zero.
  • Correspondingly modeled frequency characteristics are shown in FIG. They correspond with high accuracy, in particular in the higher frequency range, to the measured characteristic curves.
  • the parametric system model determined on the basis of the measured characteristic curves is now taken into account in the control circuit for the drive or for the route. That The distance model flows into individual components of the control loop, as shown symbolically in FIG.
  • This path signal is first converted as a feedback signal into a numerical calculation element 6 into a speed signal and then negatively fed back via another feedback element 7 with the transfer function Gi (z) to the input to the desired speed signal v soll .
  • the displacement signal x_load is negatively coupled back to a desired displacement signal x so ii.
  • the resulting difference signal is converted in a conversion element 8 to the desired speed v so n.
  • the route model obtained according to FIG. 2 flows among other things into the components 2, 7 and 8 of the control loop.
  • the parametric distance model can be calculated automatically or semi-automatically.
  • a high-order route model i. a differential equation of high order
  • This is unproblematic insofar as the controller design can be worked off-line.
  • the order of the line model must be purposefully reduced for the implementation. This is necessary in order to meet the computing capacity of the controller.
  • a high-order routing model for the design which is valid even at high frequencies, it is ensured that, in spite of the low implemented order, the poles can be shifted to the desired location for damping.
  • the controller is put into operation by the operator shifting the poles of the controlled system continuously into the range of higher damping by varying a few parameters.
  • the commissioning of the control system can be carried out by varying a few parameters, since the system model is taken into account in the control system.
  • the operator does not have to specify the attenuation for each pole. Rather, the pole setting was automatically determined already in the design. Thus, the operator is largely decoupled from commissioning.
  • the inner control loop ie the speed control loop
  • This control loop contains the known APC control structure, whereby a load transmitter, ie a direct measuring system, is used.
  • the control components 1, 2 and 3 of FIG 3 are replaced by a Strom ⁇ Sollwertfilter with PI controller.
  • Soll ⁇ v speed to including recycled sizes a PI controller 10 and then one or more Band ⁇ locks 11, 12 supplied. This in turn results in the desired current i_soll.
  • the number of band-stop filters 11, 12 depends on the order of the track model.
  • the subsequent current control circuit 4 and the section 5 correspond to those of the first embodiment shown in FIG 3.
  • direct feedback branch in turn is the same conver ⁇ voltage element 6 are provided for converting the displacement signal into a x_Last speed.
  • the adjoining feedback element 17 corresponds in principle to the feedback element 7 of FIG. 3, but the special APC control structure is taken into account in the transfer function Gi '(z) of the feedback element 17. If, for example, three bandstop filters are to be implemented, then the transfer function must be sixth order.
  • Position and speed control loop can be influenced. Thus, it is possible to continue to use existing system architectures. the.
  • the position control can also be calculated here in the higher-level control.
  • the present invention may be used to include drive commissioning software for identification (frequency response measurement), modeling, and controller design. In the process, the result of the modeling obtained from the identification is integrated into the control structure in the controller design. However, because the implementable governor order should generally be less than that of the model, the model must be simplified and high frequency components omitted. Thus, a low-order controller is determined. This low order control algorithm is further optimized using the full high order model. Only the optimized crizalgor ⁇ rithm is implemented.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

L'invention vise à simplifier la mise en service d'une structure de réglage. A cet effet, on utilise un modèle système paramétrique qui est mis en oeuvre dans le dispositif de réglage. A cette occasion, on détermine de préférence un modèle système d'ordre supérieur et, à partir de là, on obtient un algorithme de réglage d'ordre inférieur. C'est d'abord cet algorithme de réglage d'ordre inférieur,éventuellement optimisé par un modèle système d'ordre supérieur, qui est mis en oeuvre dans le dispositif de réglage.
PCT/EP2005/055323 2004-10-19 2005-10-18 Procede et dispositif de mise en service et de reglage d'un mecanisme d'entrainement WO2006042842A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410050903 DE102004050903A1 (de) 2004-10-19 2004-10-19 Verfahren und Vorrichtung zur Inbetriebnahme sowie zum Regeln eines Antriebs
DE102004050903.4 2004-10-19

Publications (1)

Publication Number Publication Date
WO2006042842A1 true WO2006042842A1 (fr) 2006-04-27

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DE (1) DE102004050903A1 (fr)
WO (1) WO2006042842A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007008096B4 (de) * 2007-02-19 2011-01-13 Siemens Ag Bestimmungsverfahren für Parameter einer parametrierbaren Regelanordnung und darauf beruhende Gegenstände
DE102009017090A1 (de) * 2009-04-15 2010-11-11 Festo Ag & Co. Kg Verfahren zur Ermittlung von Reglerparametern einer Regelungseinrichtung zur Antriebsregelung eines Antriebssystems
PL2280322T3 (pl) * 2009-07-06 2013-03-29 Baumueller Nuernberg Gmbh Sposób i urządzenie do automatycznej inicjacji i/lub automatycznej pracy regulatorów elektrycznego układu napędowego z mechanizmem oscylacyjnym
JP5689491B2 (ja) 2013-03-05 2015-03-25 ファナック株式会社 サーボモータの制御装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4639853A (en) * 1983-06-03 1987-01-27 Omron Tateisi Electronics Co. Time-discrete adaptive switching on-off controller
US5268625A (en) * 1990-11-24 1993-12-07 Dowty Aerospace Gloucester Limited Adaptive control servosystems
US5920478A (en) * 1997-06-27 1999-07-06 Oakleaf Engineering, Inc. Multi-input multi-output generic non-interacting controller
US6417982B1 (en) * 1998-12-02 2002-07-09 International Business Machines Corporation System and method for identifying and filtering a head suspension assembly resonance frequency
US20020111758A1 (en) * 2000-10-18 2002-08-15 Qing-Guo Wang Robust process identification and auto-tuning control
DE10246093C1 (de) 2002-10-02 2003-11-27 Siemens Ag Verfahren zur Dämpfung mechanischer Schwingungen von Achsen von Werkzeugmaschinen, Produktionsmaschinen oder Robotern
US20040181300A1 (en) * 2003-03-11 2004-09-16 Clark Robert L. Methods, apparatus and computer program products for adaptively controlling a system by combining recursive system identification with generalized predictive control

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2201499B1 (fr) * 1972-09-29 1975-03-14 Alsthom Cgee
DE3408523A1 (de) * 1984-03-08 1985-09-12 Siemens AG, 1000 Berlin und 8000 München Verfahren zur ueberwachung der durch die steuerung der antriebe einer rechnergesteuerten werkzeugmaschine oder eines industrieroboters erzeugten bahn

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4639853A (en) * 1983-06-03 1987-01-27 Omron Tateisi Electronics Co. Time-discrete adaptive switching on-off controller
US5268625A (en) * 1990-11-24 1993-12-07 Dowty Aerospace Gloucester Limited Adaptive control servosystems
US5920478A (en) * 1997-06-27 1999-07-06 Oakleaf Engineering, Inc. Multi-input multi-output generic non-interacting controller
US6417982B1 (en) * 1998-12-02 2002-07-09 International Business Machines Corporation System and method for identifying and filtering a head suspension assembly resonance frequency
US20020111758A1 (en) * 2000-10-18 2002-08-15 Qing-Guo Wang Robust process identification and auto-tuning control
DE10246093C1 (de) 2002-10-02 2003-11-27 Siemens Ag Verfahren zur Dämpfung mechanischer Schwingungen von Achsen von Werkzeugmaschinen, Produktionsmaschinen oder Robotern
US20040181300A1 (en) * 2003-03-11 2004-09-16 Clark Robert L. Methods, apparatus and computer program products for adaptively controlling a system by combining recursive system identification with generalized predictive control

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