WO2011047759A1 - System und verfahren zur ausführung einer simulationsbetriebsart zur simulation eines antriebs einer antriebseinrichtung - Google Patents
System und verfahren zur ausführung einer simulationsbetriebsart zur simulation eines antriebs einer antriebseinrichtung Download PDFInfo
- Publication number
- WO2011047759A1 WO2011047759A1 PCT/EP2010/005723 EP2010005723W WO2011047759A1 WO 2011047759 A1 WO2011047759 A1 WO 2011047759A1 EP 2010005723 W EP2010005723 W EP 2010005723W WO 2011047759 A1 WO2011047759 A1 WO 2011047759A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drive
- movement
- control device
- interpolation
- drive device
- Prior art date
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 238000001514 detection method Methods 0.000 claims description 20
- 238000004364 calculation method Methods 0.000 description 13
- 238000012360 testing method Methods 0.000 description 10
- 230000001419 dependent effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 239000004753 textile Substances 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009175 self-generated movement Effects 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- 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
- G05B19/406—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 monitoring or safety
- G05B19/4069—Simulating machining process on screen
-
- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the invention relates to a system and a method for carrying out a
- Simulation mode for simulating a drive of a drive device, with which a test of the technical system without mechanical movement of system parts executable.
- Technical equipment such as packaging machines, printing machines,
- virtual axes are assigned to real axes in the control device, and the test of the real axis function is performed based on a test of the virtual axis Axis executed.
- movement of the real axis through the virtual axis is only simulated, preventing actual movement of the real axis.
- the technical system can be safely tested.
- the problem arises that the replica of a real axis by a virtual axis is relatively cumbersome and therefore expensive.
- the replica is not always possible, such as in existing and unchangeable or reprogrammable control devices.
- Another problem is that control devices which work with computer programs using only real axes can not be executed
- the object is achieved by a system for executing a simulation mode
- the drive device serves to drive a driven element in a
- the system comprises a control device for acquiring setpoint values for a movement profile of the drive movement and for controlling the movement profile
- Setpoint decoupling device for decoupling the setpoint values from the drive device when the control device executes the simulation mode.
- the system also preferably has an interpolation device for interpolating the setpoint values obtained by the control device into the movement profile of the drive movement.
- an interpolation device for interpolating the setpoint values obtained by the control device into the movement profile of the drive movement.
- the system may also comprise a detection device for detecting actual values which reproduce the drive movement actually caused by the drive device, wherein the control device is designed such that it controls the
- the setpoint decoupling device prefferably be a switch arranged between the control device and the drive device.
- the setpoint decoupling device is configured such that the output of the interpolation device is deflected to the output of the detection device.
- the object is also achieved by a method for executing a simulation mode for simulating a drive of a drive device according to claim 7.
- the drive device serves to drive a driven element in a drive movement.
- the method has the steps of: obtaining set values for a movement profile of the drive movement; Controlling the drive means based on the motion profile; and decoupling the setpoint values from the drive device when the simulation mode is executed.
- the method may also comprise the step of interpolating the setpoint values obtained by the control device into the movement profile of the drive movement, wherein the step of interpolation is performed in the control device.
- the method may comprise the step of detecting actual values which represent the drive movement actually caused by the drive device, wherein a control of the drive device is performed taking into account the actual values. It is possible for the interpolation step to be performed by an interpolation device and the detection step to be carried out by a detection device, and the step of decoupling the desired values deflects the output of the interpolation device to the output of the detection device.
- control device can transmit motion commands to a real element connected to it, which is connected to it.
- a real axis can be given without the real element or the real axis actually making a movement.
- the synchronization of a slave axis with a master axis can be checked in this way.
- the above-described system and method are also applicable when to the
- Control device is not connected to moving real element.
- a virtual axis does not have to be applied to a real element to be moved, so that the system is applicable to already existing control devices.
- FIG. 1 is a block diagram of a system according to an embodiment of the present invention.
- Fig. 2 is a block diagram of a system according to a variant of
- a system 10 is shown that a control device 11, a
- Detection device 14 and a technical system 20 with a drive device 21 with a driven element 21a includes.
- the control device 11 serves to control a drive of the drive device 21. That is, a control of the drive device 21 by the control device 11 has a drive of the driven element 21a of the drive device 21 in a
- the driven element 21a of the drive device 21 is for example an axis which is driven in a rotational movement and / or translational movement.
- the driven element 21a may also be a push and / or
- the control device 11 acquires setpoint values and supplies them to the calculation device 13 so that it generates therefrom a movement profile of the drive movement of the driven element 21a of the drive device 21. That is, the drive means 21 performs when driven by the control device 11 from a specific trajectory, which by the setpoints and the resulting from the
- Calculation device 13 generated motion profile is set.
- Obtaining the setpoint values by the control device 11 comprises, in particular, the case in which the control device 11 generates the setpoint values itself.
- the case is included that the control device 11, the set values by accessing a non-illustrated
- Storage device procured which may be located either in the control device 11 or externally of her. Furthermore, the control device 11 may request or receive the setpoint values by request from a higher-level technical system or control device.
- Detection device 14 also other states of the drive device 21, such as speed, temperature, current position of the driven element 21a and so on.
- the values detected by the detection device 14 are also referred to below as actual values.
- the actual values are taken into account by the control device 1 1 during the further output of desired values to the drive device 21. That is, the control device 1 1 carries out a control of the drive device taking into account the actual values.
- the control device 1 1 also uses the calculation device 12, which calculates a difference between setpoints and actual values. Then controls the
- Control device 1 the drive means 21 based on this difference.
- control device 1 1 executes a simulation mode in which the element 21 a to be driven of the drive device 21 is not moved. That means in the
- Simulation mode only the basic function of the control device 1 1 and a drive of the drive device 21 is tested. More precisely, it will be one
- the system 10 comprises the setpoint decoupling device 13, which is used to decouple an output of the setpoint values from the control device 1 1 from the
- Drive device 21 is used. That is, the setpoint decoupling device 13 prevents the control device 1 1 from supplying set values to the drive device 21. In this way, a mechanical movement of the of the drive device 21st
- the target decoupling device 13 is a switch disposed between the control device 1 1 and the driving device 21.
- the setpoint decoupling device 13 is a changeover switch which controls the output of the
- Control device 1 1 deflects to the output of the detection device 14. As a result, the output of the setpoint values from the control device 1 1 is short-circuited with the output of the actual values from the detection device 14 to the control device 1 1.
- the setpoint decoupling device 13 preferably decouples the setpoint values obtained from the control device 1 1 from the drive device 21 when the control device 1 1 is to execute the simulation mode described above.
- setpoint values for a movement profile of the drive movement of the drive device 21 are first procured by the control device 11 and supplied to the calculation device 13 in order to generate the movement profile of the drive movement.
- the setpoint values are decoupled from the drive device 21 by the setpoint decoupling device 13 when the simulation mode is executed. This case is shown in FIG. In this case, then by the control device 1 1 and the
- Calculation device 13 supplied directly fed back into the calculation device 13 and the calculation means 13 fed back.
- the calculating device 13 calculates the difference between a target moving profile of the driving motion outputted from the calculating device 13 at a previous time and that at present from the calculating device 13 calculated target motion profile of the drive movement or travel curve. Since the driven element 21a of the drive device 21 in the previously
- the detection device 14 can detect no drive movement of the driven element 21 a of the drive device 21.
- the output of the detection means 14 becomes, due to this target motion profile
- Detection device 14 detected and passed on to the calculation device 13.
- the calculating means 13 calculates the difference of actual values of
- Detection device 14 detected movement profile of the drive movement or Traversing curve, and a calculated at the present time by the calculation means 13 target movement profile of the drive movement or Verfahrkurve.
- the system additionally comprises an interpolation device 15, as shown in FIG.
- Fig. 2 shows a variant in which the calculating means 13 a
- Interpolation device 15 has. That is, the interpolation device 15 is assigned to the control device 1 1 or calculation device 13, wherein the
- Interpolation device 15 may be arranged in or on the calculation device 13. Thus, an interpolation of the setpoint values into the motion profile in or at the calculation device 13 can be performed.
- control device 1 1 acquires the setpoint values for a drive of the drive device 21, and the interpolation device 15 interpolates the setpoint values in order to determine a movement profile of the drive movement of the element 21 a to be driven
- the interpolation means 15 receives the set values output from the control apparatus 11 for further processing.
- control device 11 can control a plurality of drive devices 21 and the technical system 20 can have a plurality of drive devices 21. This also means that the control device 1 1 can control a multiplicity of drive devices 21 that belong to different technical systems 20. Likewise, the control device 11 may be arranged directly on the drive device 21.
- the drive device 21 is, for example, an electric motor and in particular a servomotor.
- the system 10 described above can also include the technical system 20 and its drive device (s) 21.
- Sensors of the detection device 14 are preferably arranged on or in the vicinity of the drive device 21 and thus can also be part of the technical system 20. Likewise, the entire detection device 1 may be part of the technical system 20.
- Packaging machines, printing machines, textile machines and automation equipment are used.
- the system 0 and the method can be used in electrically, hydraulically and / or pneumatically controlled systems.
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Human Computer Interaction (AREA)
- Feedback Control In General (AREA)
- Control Of Multiple Motors (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201080047381.9A CN102576220B (zh) | 2009-10-21 | 2010-09-17 | 用于执行用于对驱动机构的驱动进行模拟的模拟运行方式的系统和方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009050157.6 | 2009-10-21 | ||
DE102009050157A DE102009050157A1 (de) | 2009-10-21 | 2009-10-21 | System und Verfahren zur Ausführung einer Simulationsbetriebsart zur Simulation eines Antriebs einer Antriebseinrichtung |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011047759A1 true WO2011047759A1 (de) | 2011-04-28 |
Family
ID=43384576
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2010/005723 WO2011047759A1 (de) | 2009-10-21 | 2010-09-17 | System und verfahren zur ausführung einer simulationsbetriebsart zur simulation eines antriebs einer antriebseinrichtung |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN102576220B (de) |
DE (1) | DE102009050157A1 (de) |
WO (1) | WO2011047759A1 (de) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE8034721U1 (de) * | 1980-12-29 | 1981-04-16 | Siemens AG, 1000 Berlin und 8000 München | Pruef- und simulationsgeraet fuer nahverkehrsfahrzeuge |
DE3744631A1 (de) * | 1987-12-31 | 1989-07-13 | Friedrich Prof Dr Ing Klinger | Verfahren und vorrichtung zur durchfuehrung von lebensdaueruntersuchungen an fahrzeugen |
DE102006025165A1 (de) * | 2006-05-30 | 2007-10-18 | Siemens Ag | Einrichtung zur Bewegungsführung eines Maschinenelementes einer Maschine |
DE102006029527A1 (de) * | 2006-06-20 | 2007-12-27 | Stama Maschinenfabrik Gmbh | Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000092881A (ja) * | 1998-09-18 | 2000-03-31 | Yaskawa Electric Corp | 電動機制御装置 |
JP3902710B2 (ja) * | 1999-03-24 | 2007-04-11 | 株式会社牧野フライス製作所 | 数値制御による工作機械の制御方法及び装置 |
DE10025936A1 (de) * | 2000-05-26 | 2001-12-06 | Alstom S A | Vorrichtung zur Simulation einer technologischen Anwendung mit einem umrichtergesteuerten Elektromotor |
DE102007029137B4 (de) * | 2007-06-25 | 2013-04-18 | Airbus Operations Gmbh | Testsystem-Verbund zum parallelen Testen mehrerer Systeme unter Test mit mehreren Testsystemen |
-
2009
- 2009-10-21 DE DE102009050157A patent/DE102009050157A1/de not_active Ceased
-
2010
- 2010-09-17 CN CN201080047381.9A patent/CN102576220B/zh active Active
- 2010-09-17 WO PCT/EP2010/005723 patent/WO2011047759A1/de active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE8034721U1 (de) * | 1980-12-29 | 1981-04-16 | Siemens AG, 1000 Berlin und 8000 München | Pruef- und simulationsgeraet fuer nahverkehrsfahrzeuge |
DE3744631A1 (de) * | 1987-12-31 | 1989-07-13 | Friedrich Prof Dr Ing Klinger | Verfahren und vorrichtung zur durchfuehrung von lebensdaueruntersuchungen an fahrzeugen |
DE102006025165A1 (de) * | 2006-05-30 | 2007-10-18 | Siemens Ag | Einrichtung zur Bewegungsführung eines Maschinenelementes einer Maschine |
DE102006029527A1 (de) * | 2006-06-20 | 2007-12-27 | Stama Maschinenfabrik Gmbh | Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks |
Also Published As
Publication number | Publication date |
---|---|
DE102009050157A1 (de) | 2011-04-28 |
CN102576220A (zh) | 2012-07-11 |
CN102576220B (zh) | 2016-06-08 |
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