WO2014053646A1 - Procédé et dispositif de commande en temps réel d'une chaîne cinématique - Google Patents

Procédé et dispositif de commande en temps réel d'une chaîne cinématique Download PDF

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Publication number
WO2014053646A1
WO2014053646A1 PCT/EP2013/070732 EP2013070732W WO2014053646A1 WO 2014053646 A1 WO2014053646 A1 WO 2014053646A1 EP 2013070732 W EP2013070732 W EP 2013070732W WO 2014053646 A1 WO2014053646 A1 WO 2014053646A1
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WO
WIPO (PCT)
Prior art keywords
electric motor
time phase
during
speed
signal
Prior art date
Application number
PCT/EP2013/070732
Other languages
German (de)
English (en)
Inventor
Uwe EPPINGER
Wolfgang Kunkel
Original Assignee
Egt Eppinger Getriebe Technologie Gmbh
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 Egt Eppinger Getriebe Technologie Gmbh filed Critical Egt Eppinger Getriebe Technologie Gmbh
Publication of WO2014053646A1 publication Critical patent/WO2014053646A1/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
    • 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
    • G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • 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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41032—Backlash
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41059—Play in gear, screw backlash, lost motion
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43003—Acceleration deceleration in presence of backlash, dynamic backlash
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43054—Take up gear backlash during deceleration

Definitions

  • the present invention relates to a method and an apparatus for real-time control of a drive train with an electric motor and a transmission unit, such as a transmission.
  • the transmission unit and the gear unit has an input element which can be driven by Elect ⁇ romotor.
  • the transmission unit and the transmission further includes a gear to be positioned out ⁇ element at which, for example, a rotary table, a carriage or the like is attached.
  • the bossele ⁇ ment is preferably rotationally driven, but can also perform a linear or other movement.
  • the transmission unit may be a rigid Ver ⁇ connection between the input element and output element. However, the transmission unit can also cause any BEWE ⁇ supply coupling and transmission of movement between the input element and output element. Is used as the ⁇ tragungshim a gear, an over-o- a reduction between input element and from ⁇ be specified transition element.
  • an electric motor in particular serves a servo motor.
  • the invention provides to control the drive train in real time to position the output element. Therefore, before starting the device or before carrying out the method, no calibration operations must be performed.
  • the output element is moved in real time exactly in a predetermined target position, the game in the drive train, which can change due to wear or tempera ⁇ tur employment, or other positioning influencing parameters are corrected in real time.
  • a target position for the Ninth ment is given, for example, manually via an input ⁇ interface or automatically by a control program or an external control.
  • a direction of rotation for the electric motor is then first determined, which is selected so that the output element can be moved depending on its current actual position on the shortest path or in the shortest possible time in the desired position.
  • the electric motor through the Control unit driven.
  • the drive of the electric motor is at a speed that is less than a first speed threshold.
  • the speed can be increased steadily in the first time phase in particular.
  • This first time phase ends early ⁇ least, when the position of the output element he ⁇ grasping position sensor indicates that the output element moves from its original position in the direction of the desired position.
  • the pilot position is removed by ei ⁇ ne fixed or variable position difference from the desired position.
  • the positi ⁇ onsdifferenz may be a distance and / or angle of rotation.
  • the output member may perform any movement along a predetermined path.
  • the position difference can therefore also be a multidimensional curved path segment, which is described by vectors or a polynomial train (so-called "spline") or an overlapping of distances and angles or in another suitable mathematical manner, in a second immediately adjacent to the first time phase time phase of the electric motor is driven to move the output member in the calculated pilot position.
  • the speed is increased in the second time phase in an acceleration period up to a maximum speed and again reduced in a deceleration period of time before reaching the pilot position
  • a possible ⁇ lichst. rapid movement of the output member Before ⁇ tax position will be scored in the.
  • the electric motor is stopped.
  • the position of the output member is calculated preferably over the position-determining means determined by a rotational position of the Elektromo ⁇ tors and the optionally present gear ratio during the second time phase.
  • the position sensor of the off ⁇ on transition element such a high resolution that, when hö ⁇ heren speeds of the electric motor during the second time phase of the position signal of the position sensor allows no more position determination.
  • rotational position determination ⁇ medium in particular a rotary position sensor comprising a ge ⁇ ringere resolution and accuracy than the Posi tion ⁇ sensor is used.
  • the electric motor is driven at a low speed, which is less than a second speed threshold.
  • a creeping movement of the output member from the pilot posi ⁇ tion held in the desired position is driven until the output element has reached the desired position, which is indicated by the Po ⁇ sitionssignal.
  • the amount of the first rotation ⁇ number threshold is greater than the amount of the second speed threshold, in particular at least to the Fak ⁇ tor 2 to 25.
  • the direction of rotation of the electric motor is not reversed during the movement of the output member from the original position to the desired position. A movement of the output element beyond the desired position and a post ⁇ rules by reversing the direction of the electric motor does not take place.
  • the first time phase it may happen that despite a rotation of the electric motor due to the existing in the drive train no movement of the output member is effected.
  • the changed rotational position of the electric motor detected by the engine tracking signal and there ⁇ out during the first and / or during the second time phase a play value for existing in the drive train between the motor shaft of the electric motor and the output element game in particular be calculated in real time.
  • the calculation of the play value can be determined every time the output element is moved from an original position to a set position. It is also possible to determine the game value at predetermined intervals only from time to time. The game values can be saved.
  • the pilot position can be determined parameter-dependent.
  • a currently determined play value can serve as a parameter in the determination of the pilot position or the position difference.
  • parameters such as the mass and / or the inertia of the moving parts of the drive train can be used ⁇ .
  • the mass and / or the inertia of the moving parts can be determined in the control unit constructed in particular in real time ⁇ and stored, for example.
  • the position difference between the pilot position and the target position is chosen sufficiently large to ensure that the output element is not reached by Elas ⁇ ticities in the drive train and consequent oscillations or position changes of the output element when stopping the engine in the pilot position, the target position of the output element.
  • a corresponding locking device may be provided.
  • the locking device acts on the output element ment directly and clamps this particular force ⁇ conclusively in the desired position. When clamping any change in position of the output element with respect to the target position is avoided.
  • the locking device can be controlled electrically and / or hydraulically and / or pneumatically. It is advantageous if the off ⁇ transition element frictionally acts upon the clamping means is spring biased into the clamping position.
  • a change in the position signal is compared with a change in the engine rotational position signal.
  • the control unit from an error in the drive train can be detected, for example, the breakage or blockage of a component of the transmission unit or the failure of the position sensor or the rotational position determining means.
  • Wenig ⁇ least a state signal of the transmission unit and the transmission for example, a noise of the transmission unit or of the transmission during the drive of the electric motor and / or the temperature of the transmission ⁇ unit or of the transmission at at least one position can be detected in addition, and / or a predetermined position of at least one element of the transmission unit or the transmission, the example ⁇ can be used as a zero position.
  • the frequency or the frequencies of the noise can be evaluated and concluded therefrom on the speed and / or the speed change of the electric motor and the output element.
  • control unit in one embodiment, preferably a processor-controlled real-time system with an FPGA (Field Programmable Gate Array) on.
  • FPGA Field Programmable Gate Array
  • One or more input and / or output modules for programming or operation can be connected to the FPGA.
  • the control unit or the FPGA can be further wireless or wired
  • Interfaces for the transmission of messages eg. For the output of error messages have.
  • the position signal of the position sensor not only give a measure of the movement and the direction of movement of the output element, but the position signal also includes an indication of the absolute position of the réelleele ⁇ ment. Also, the motor rotational position signal, an indication of the absolute position of the rotational position of the electric motor contained ⁇ th.
  • Figure 1 is a block diagram of an embodiment of an apparatus for real-time control of a drive train
  • FIG. 1 illustrates the block diagram of an embodiment of a device 10 for real-time control of a drive train 11.
  • a device 10 for real-time control of a drive train 11.
  • the transmission 13 comprises an input element 14 designed as an input element and an output element 15 designed as output element.
  • the output element formed by the output shaft 15 should be positi ⁇ onsgeregelt.
  • the device 10. Real ⁇ tive to the output member is stationary, a Maschinenele ⁇ ment be arranged sixteenth In the embodiment is rotatably mounted on the output shaft 15, for example, a turntable 17th
  • the servomotor 12 has a motor shaft 18 which is non-rotatably connected to the input shaft 14 in the embodiment by means of a clutch 19.
  • the clutch 19 is not switchable. It serves to reduce misalignment between the motor shaft 18 and the input shaft 14 technicallyglei ⁇ Chen and voltages in the drive train. 11
  • the servo motor 12 is associated with a rotational position determining means 25, which determines the rotational position of the servomotor 12 ermit ⁇ .
  • the rotational position of the servo motor 12 can be measured immedi ⁇ bar or calculated from measuring signals of the servomotor 12 in a control unit 27.
  • the rotational position determination means 25 is performed by a rotational position sensor 26, which is the motor shaft 18 supplied ⁇ arranged.
  • the rotational position sensor 26 generates a motor-driven signal DM, which is transmitted from the rotational-position sensor 26 to the control unit 27.
  • the output shaft 15 is a position sensor 28 associated ⁇ arranged, the overall of the position of the output shaft 15 formed output element detected and transmitted a position signal P to the control unit 27.
  • the output element here the output shaft 15, executes a rotary or rotational movement in the embodiment.
  • the position sensor 28 is therefore designed as Drehalgensensor, so that the position signal P indicates the rotational position of the output shaft 15.
  • a rotating output shaft 15 it is also possible to use a linearly movable or a pivotable output element or an element movable along a curved path, the position of which is detected by the position sensor 18.
  • Both the rotational position sensor 26 of the servo motor 12, and the position sensor 28 are executed as Abso ⁇ lutsensoren example, so that the position signal P and the engine rotational position signal DM respectively the absolute position of the output shaft 15 and the motor shaft 18 indicates.
  • ⁇ at least one of the two sensors 26, 28 must be able to detect a Absolutpo ⁇ sition, to determine the absolute position of the output member or the output shaft 15 without a reference movement during commissioning.
  • the accuracy of the position sensor 28 is greater than that of the rotational position ⁇ sensor 26, for example, at least by an order of magnitude. It is in the device readily possible to replace an existing position sensor 26, 28, with only a simple parameter change must be made to specify, for example, the number of pulses per revolution or with linear encoders along a predetermined distance.
  • the transmission 13 may comprise a sensor arrangement 31. sen to erfas ⁇ sen at least one gear state signal GZ and to transmit to the control unit 27.
  • a clamping unit 32 which is the output shaft 15 is arranged to ⁇ and this can block against rotation.
  • this blockage is generated by a force-locking jamming of the output shaft 15.
  • the clamping unit 32 at least one clamping part 33 which is mechanically biased by a spring means 34 in the clamping position. In the clamping position prevents the clamping member 33 by frictionally acting on the output shaft 15 whose rotation.
  • the clamping unit 32 in the release position umgeschal ⁇ tet, so that the at least one clamping member 33 allows the rotation of the output shaft 15 unhindered.
  • the movement of the at least one clamping part 33 against the force of the spring device 34 can be effected by electrical and / or hydraulic and / or pneumatic means which are not illustrated in FIG. 1 for the sake of clarity.
  • the clamping member 33 may be designed as a piston that by hydraulic or pneumatic pressure against the spring, the force of the spring means 34 can be moved away from the starting element formed by the output shaft 15 away in the release position.
  • the control unit 27 is connected to a servo motor driver 41.
  • the server Demotortreiber 41 serves to provide sufficient electrical power to operate the servo motor 12 ready.
  • the motor current I for the servomotor 12 is set in the exemplary embodiment.
  • other or further motor control variables come into consideration, such as the frequency of an alternating current and / or the motor voltage.
  • the control unit 27 transmits to the servo motor driver 41 a drive signal MA, which specifies the engine speed.
  • the servomotor driver 41 may optionally, as illustrated in the embodiment, transmit a fault in the servomotor ⁇ driver 41 by a drive error signal to the control unit FT 27th
  • the control unit 27 may be connected to at least a wide ⁇ preferably include digital inputs and / or output interface of the ⁇ le 42 to perform monitoring or security ⁇ functions or external additional control functions, such as functions relating to the cooling and / or Schmie ⁇ tion of the transmission 13. Using the digital inputs and / or from ⁇ reproducing interface 42, the control unit 27 can also be para- metrizable.
  • the device 10 also includes one or more operator interfaces 35, 36.
  • a first operator interface ⁇ stop 35 is used to operate the apparatus 10 during the usual operation. Via the first user interface 35, a target position P ii 15 can be pre ⁇ give So, for example, for the off ⁇ transition element and, for example according to the output shaft.
  • the first operator interface 15 can display information about the current operating state, such as the current actual position P ist der Ricowel ⁇ le 15, the temperature T of the transmission, error conditions and other data.
  • the second Every4.000Stele 36 is used for programming or parameterization of the device 10 via the control unit 27. About this second operator ⁇ interface 36, the control or control behavior of the real time control can be changed. This second operator interface 36 is preferably accessible only trained specialist ⁇ staff and can be protected against unauthorized access, for example by a password.
  • the second user interface 36 can communicate directly with the control ⁇ unit 27 and / or via a command interpreter 37 with the control unit 27th
  • the control unit 27 may also have a wired or wireless interface 38 for communicating with exter ⁇ NEN, preferably portable computers 40 to error, current operating states or the like übermit ⁇ stuffs.
  • exter ⁇ NEN preferably portable computers 40 to error, current operating states or the like
  • portable computers 40 to error, current operating states or the like
  • the wireless transmission may, for example, known via a telephone connection, a Bluetooth connection or by any other of the prior art and suitable manner ⁇ the.
  • Anson ⁇ th is the portable computer only for data output or display.
  • the device 10 serves the purpose of wave 15 formed output element in real time, in particular the position of the output element.
  • the FPGA enables very fast data processing.
  • the control unit 27 is connected to a memory device 39, which may comprise a RAM and / or a ROM, to store or read out data.
  • the memory device may also have an external memory, which has a known
  • the device 10 is configured to execute the following method in real time:
  • a target position P soii is given before ⁇ into which the output shaft is to be rotated 15, is first determined in the embodiment of the control unit 27, the direction in which the servo motor has to be rotated 12 so that the output shaft 15 in the shortest path and thus in the shortest time from the original position ⁇ ⁇ in the target position P So ii can be rotated. If the clamping device 32 is in its clamping position, switching over is effected via the clamping signal K, so that the output shaft 15 is freely rotatable.
  • the control unit 27 causes the servomotor 12 to be driven in the fixed direction of rotation during a first time phase T 1.
  • first time phase T 1 the backlash present in the drive train 11 becomes active eliminated.
  • the first time phase Tl takes solan ⁇ ge at least until the position sensor 28 indicates movement of the output member, so in the exemplary embodiment rotation of the output shaft 15, the rotational speed of the servo motor 12 is smaller than an ERS ⁇ ter speed threshold Sl During the first time period Tl. The speed is increased steadily during the first time phase Tl and can correspond to the first speed threshold value Sl at the end of the first time phase T1, as is illustrated schematically in FIG.
  • the current speed rot of the servo motor 12 can be ermit ⁇ telt from motor rotational position signal DM in the control unit 27th
  • Figure 2 is shown schematically that the position signal P changes only from a second time t2 and thereby shows a rotation of the output shaft 15 ⁇ .
  • a play value for the play present in the drive train 11 between the motor shaft 18 and the output shaft 15 can be determined in the control unit 27 and stored, for example, in the memory device 39. It is possible and provided by way of example, these playing values each movement of the output element 15 to determine and from ⁇ save or at least from time to time in a pre ⁇ given interval. From the play values, for example, the state of wear of the transmission 13 can be determined. Maintenance and / or repair recommendations can also be output via one of the operator interfaces 35, 36 or else the interface 38 if the game values exceed a predetermined level.
  • the control unit 27 calculates a pilot control position P before for the output shaft 15.
  • the pilot control position P before is determined such that a calculated or fixed ⁇ given position difference PD to the desired position P so ii be ⁇ .
  • the position difference PD can be permanently stored in the simplest case. Alternatively, they can be parameterized ⁇ teruk determined by the control unit 27th For example, the position difference PD and thus the pilot position P before depending on the inertia of the moving ⁇ th parts of the drive train 11 and / or the mass of the moving parts of the drive train 11 and / or the maximum achievable acceleration or deceleration of the moving parts of the drive train 11th be determined.
  • the mass, the inertia and the maximum acceleration or maximum deceleration can be calculated red during operation of the device 10 based on the motor torque provided by the servomotor 12, which in turn ⁇ be determined by the motor current I dependent, and thereby caused speed change of the speed red.
  • Second second phase T2 is the servomotor 12 is driven to rotate the output shaft 15 to the pilot position P before .
  • this second time period T2 is divided into a plurality of time periods.
  • an acceleration time section T21 is provided, during which the rotational speed red of the servomotor 12 is steadily increased up to a maximum speed rmax.
  • the speed increase can be increased linearly in one or more stages with different slopes (as illustrated in FIG. 2) or alternatively also non-linearly.
  • the acceleration period T21 has ended and the maximum speed rmax has been reached. After he ⁇ the maximum speed range rmax it remains up to a fourth time t4 con ⁇ stant during the second time period T2.
  • From the fourth time t4 begins a delay ⁇ time section T22, during which the speed is reduced red of the servo ⁇ motor 12.
  • the speed reduction during the enlargement period T22 can be linearly performed in ei ⁇ ner or more stages with different pitches. A non-linear delay is also possible.
  • the speed is red reduced and during the delay time period T22 initially up to a corresponding in et ⁇ wa the first speed threshold Sl rotation ⁇ number then further reduced with a lower deferrers ⁇ delay to a stop of the servo motor at the end of two ⁇ th time phase T2.
  • the second time phase T2 ends, as soon as the position signal P indicates that the output shaft 15 is in the pilot position P before? which is the case in the embodiment of Figure 2 at a fifth time t5.
  • the maximum speed rmax is the value determined by the servomotor 12 ma- Maximum speed provided. Depending on the way between the original position P 0 and P target position, it may be so ii that this maximum speed rmax is not achieved and the acceleration period T21 UNMIT ⁇ telbar passes into the enlargement period T22.
  • a third time phase T3 begins.
  • the servo motor 12 remains at a standstill. Due to the inertia of the moving parts in the drive train 11, vibrations may occur after the stopping of the servo motor 12 at the fifth time t5, which are detected via the high-precision position sensor 28 on the output shaft 15. As long as the positi ⁇ onssignal P of the position sensor 28 changes after the fifth time point t5 ⁇ , the servo motor 12 remains at a standstill.
  • the Positionssig ⁇ nal P indicates that the output shaft has thus reached the target position P ii 15, whereupon the servo motor 12 by the control unit 27 stopped immediately and the clamping unit 32 is switched over the clamping signal K in its clamping position. The output shaft 15 is then positively held exactly in the desired position P so ii.
  • the invention has been explained using the example of an output element 15, on which a turntable 17 is rotatably mounted. Instead of a rotating or rotating movement, it is also possible to use output elements that are linear or moved along trajectories.
  • the position sensor 28 is configured in this case not as a rotary encoder, but for example as a linear position sensor. It is crucial that the position sensor 28 is arranged to the output element of the transmission 13 and thus to the last moving part of the drive train 11. If, following the position sensor 28 translation or gear stages provided below, their game could not be considered in the scheme.
  • the invention relates to a method and a device for real-time control of a drive train 11 with a
  • the transmission 13 has an input element 14 driven by the servomotor 12 and an output element to be positioned, in particular an output shaft 15.
  • a position sensor 28 ER- summarizes the position of the output shaft 15.
  • a Drehlagenbe- humor medium 25 determines the rotational position of the servo motor 12.
  • the accuracy of the position sensor 28 is to at ⁇ least an order of magnitude higher than the accuracy of the rotational position determination means 25.
  • the servo motor 12 is Controlled by ei ⁇ ner control unit 27 such that the speed for moving the output member from an original position to a target position P so ii slowly increased until the game is completely overcome in the drive train 11.
  • the output shaft 15 is moved to a calculated pilot position P before , which has a ⁇ calculated or predetermined position difference PD to the target position P So ii and the servo motor 12 is stopped at Errei ⁇ Chen the pilot position P before .
  • the stopping of the servomotor 12 is maintained until the position signal P of the position sensor 28 no longer changes.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

L'invention concerne un procédé et un dispositif de commande en temps réel d'une chaîne cinématique (11) comprenant un servomoteur (12) et une transmission (13). La transmission (13) présente un élément d'entrée (14) entraîné par le servomoteur (12) et un élément de sortie, en particulier un arbre de sortie (15), à positionner. Un capteur de position (28) détecte la position de l'arbre de sortie (15). Un moyen de détermination de position de rotation (25) détermine la position de rotation du servomoteur (12). La précision du capteur de position (28) est nettement plus élevée que la précision du moyen de détermination de position de rotation (25). Le servomoteur est commandé par une unité de commande (27) de telle manière que la vitesse de rotation pour déplacer l'élément de sortie d'une position initiale vers une position de consigne (Psoll) augmente lentement jusqu'à ce que le jeu dans la chaîne cinématique (11) soit complètement comblé. Ensuite, l'arbre de sortie (15) est déplacé vers une position pilote (Pvor) calculée qui présente une différence de position (PD) calculée ou prédéfinie par rapport à la position de consigne (Psoll) et le servomoteur (12) est stoppé lorsque la position pilote (Pvor) est atteinte. L'immobilisation du servomoteur (12) est maintenue jusqu'à ce que le signal de position (P) du capteur de position (28) ne change plus. Ensuite, l'arbre de sortie (15) est déplacé de la position pilote (Pvor) vers la position de consigne (Psoll) par l'intermédiaire du servomoteur (12).
PCT/EP2013/070732 2012-10-05 2013-10-04 Procédé et dispositif de commande en temps réel d'une chaîne cinématique WO2014053646A1 (fr)

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DE102012109465.9 2012-10-05
DE201210109465 DE102012109465B4 (de) 2012-10-05 2012-10-05 Verfahren und Vorrichtung zur Echtzeitsteuerung eines Antriebstranges

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JP6416983B1 (ja) * 2017-05-22 2018-10-31 ファナック株式会社 回転軸の角度較正方法および角度較正プログラム

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