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    • 1. 发明授权
    • Method for numerical position control of motor-driven shafts
    • 电机轴数值位置控制方法
    • US4906908A
    • 1990-03-06
    • US248557
    • 1988-09-23
    • Wolfgang PapiernikThomas BaerGerhard Kirchner
    • Wolfgang PapiernikThomas BaerGerhard Kirchner
    • G05D3/12G05B19/18G05B19/19
    • G05B19/186
    • In a method for numerical position control of motordriven shafts whose rotations are to be synchronous with one another under a certain transmission ratio a control loop is provided for each shaft. A speed setpoint, weighted with the corresponding transmission ratio, is applied as a position setpoint per unit of time simultaneously to the control loops of the respective shafts. If the actual speeds of the shafts differ from one another due to a disturbance within the controlled system, the difference between these actual speeds is used to readjust the speed and the position within the speed controlled section of one of the control loops. Overshoot of the position of a shaft, which might be caused by direct adding of the position setpoint onto the speed control loop is avoided by the fact that a control element produces a delay having the time response corresponding to a delay introduced by the respective control section for speed and adds this delay to the position setpoint prior to integration (14 to 17, 24 to 27).
    • 在用于在一定传动比下旋转彼此同步的运动轴的数字位置控制的方法中,为每个轴提供控制回路。 以相应的传动比加权的转速设定值作为每单位时间的位置设定值同时施加到相应轴的控制回路。 如果由于受控系统内的干扰,轴的实际速度彼此不同,则这些实际速度之间的差异被用于重新调整其中一个控制回路的速度控制部分内的速度和位置。 通过控制元件产生具有对应于由各个控制部分引入的延迟的时间响应的延迟,可以避免可能由位置设定点直接添加到速度控制环路而导致的轴的位置的过冲 为了速度,并且在积分之前将这个延迟增加到位置设定值(14到17,24到27)。