Operation of multi-axis systems

Abstract

To provide an optimized multi-axis system with multiple axes having mechanical connections, a feedforward control identification process is provided. During this process, the actual identification variables (x1', x2') appearing at the motors (M1, M2) are provided to the identification units (I1, I2) associated with the feedforward control units (V1, V2). The feedforward control parameters (V1, V2) are identified using the actual identification variables (x1', x2'), and the closed-loop control units (R1, R2) are parameterized using the feedforward control parameters (V1, V2).

Description

[0001] This invention relates to a method for operating a multi-axis system, the system comprising a plurality of base axes and a drive shaft mechanically coupled to the base axes at a plurality of coupling points, the positions of each coupling point on the base axes being changeable by means of an associated motor to move the drive shaft relative to the base axes; closed-loop control units associated with the motors, which determine control input variables from a specified (pre-given) setpoint variable, preferably from the setpoint position, and from an associated corresponding actual variable appearing at the motor, preferably from the position, and provide the control input variables to the motors to control the corresponding actual variables according to the specified setpoint variables; and correspondingly, feedforward control units associated with the motors determine feedforward control values ​​based on the associated, specified setpoint variables and superimpose the values ​​onto the associated control input variables. The present invention also relates to a multi-axis system comprising a plurality of base axes and a drive shaft mechanically coupled to the base axes at a plurality of coupling points, the positions of which on the base axes are changeable by means of an associated motor to move the drive shaft relative to the base axes. A closed-loop control unit is provided, associated with the motor and designed to determine a control input variable from a specified setpoint variable, preferably from the setpoint position, and from an associated corresponding actual variable appearing at the motor, preferably from the position, and is designed to provide the control input variable to the motor to control the associated corresponding actual (value) according to the setpoint variable. Feedforward control units are provided, each associated with a base axis and designed to determine a feedforward control value from the setpoint variable and superimpose the value onto the control input variable.

[0002] In a multi-axis system, a drive shaft is provided, which is connected to multiple base axes via multiple coupling points. The positions of each coupling point can move relative to the base axes, thus allowing the drive shaft to move relative to the base axes. Gantry systems and injection molding machines are examples of multi-axis systems. For instance, gantry systems are used in laser cutting machines, glass cutting machines, and woodworking machines. Objects, such as tools, are mounted on the drive shafts, allowing them to be positioned with high precision within the work area by means of the drive shaft's movement. A transport system with multiple transport units (long stator linear motors, planar motors, continuous conveyors, etc.) mechanically coupled to each other can also be provided as a multi-axis system, with each transport unit considered a base axis and mechanically coupled via a drive shaft.

[0003] In a multi-axis system, motors are provided, each assigned to a connection point, to move the position of the connection point on a basic axis. The motors can be inherently rotary or linear, and can be designed as stepper motors, for example. Various actual variables, such as position, velocity, acceleration, torque, and current, occur at the motors. A closed-loop control unit is provided for each motor and therefore for each basic axis. This control unit determines control input variables from a specific setpoint and from the associated corresponding actual variables occurring at the motor, and provides these control input variables to the associated motor to control the associated actual variables, such as the position of the connection point, in a closed-loop manner. In this case, what occurs is not only the actual variable corresponding to the setpoint variable (e.g., the position corresponding to the setpoint position), but also the aforementioned multiple actual variables. Therefore, the corresponding actual variable is selected from multiple actual variables. To prevent mechanical deformation of the basic axis, the setpoint position of the associated closed-loop control unit is specified (pre-given) by a central setpoint generator. This means that during normal operation, the motors are controlled only as a group in a closed-loop manner.

[0004] To improve the closed-loop control behavior (characteristics) of a closed-loop control unit, a feedforward control unit can be provided for each control unit to perform the feedforward control process. The feedforward control unit applies a feedforward control value to the control input variable of the associated closed-loop control unit. This feedforward control value depends on the setpoint variable but is independent of the corresponding actual variable, and therefore independent of the system controlled in a closed-loop manner. Since feedforward control is open-loop control rather than closed-loop control, it can improve closed-loop control performance without compromising control loop stability. The feedforward control value can take into account additional control input variable requirements, such as those anticipated based on a specific setpoint curve.

[0005] Before actual operation, the feedforward control is parameterized using appropriate feedforward control parameters. With proper selection of feedforward control parameters, control can be optimized, for example, by improving tracking error characteristics. To prevent mechanical damage to multi-axis systems, automatic parameterization of the feedforward control unit has been eliminated until now. Conversely, the determination of feedforward control parameters for multi-axis systems with axes connected to each other is performed manually, which is very time-consuming and error-prone. CN109495026 A describes a gantry system as a multi-axis system in which a feedforward control process for speed is provided, but does not describe the identification of feedforward control parameters.

[0006] The purpose of this invention is to provide an optimized multi-axis system with mechanically connected shafts.

[0007] According to the present invention, this objective is achieved by a method in which, during the feedforward control identification process, the actual identification variables appearing at the motor are provided to an identification unit associated with the feedforward control unit, the actual identification variables are used to identify feedforward control parameters, and the closed-loop control unit is parameterized using the feedforward control parameters. This objective is also achieved by providing an identification unit associated with the base axis, which is designed to identify feedforward control parameters using the actual identification variables appearing at the motor and to parameterize the feedforward control unit using the feedforward control parameters. The multi-axis system is then operated using the closed-loop control unit and the correspondingly parameterized feedforward control unit.

[0008] The actual identified variable appears at the motor and preferably corresponds to a specific actual variable. The closed-loop control unit provides a control input variable to the associated motor in each case to control the corresponding actual variable based on the associated setpoint variable, thereby controlling the position of the associated base axis. Multiple actual variables appear at the motor. Each identification unit is supplied with an actual identified variable selected from these multiple actual variables. The identification unit uses the associated actual identified variable to quickly, easily, and automatically determine feedforward control parameters. These feedforward control parameters are each provided to the associated closed-loop control unit for parameterization. During normal operation, the feedforward control unit accordingly applies the feedforward control value to the control input variable of the associated closed-loop control unit. This improves tracking error characteristics, enabling more precise process steps. For example, if a tool mounted on the drive axis is controlled as the target of a multi-axis system, higher tracking accuracy and thus higher processing quality can be achieved when the feedforward control process is executed using the feedforward control parameters determined according to the invention.

[0009] During the feedforward control identification process, the mutually synchronized setpoint variables can be provided to and used by the identification unit to identify the feedforward control parameters.

[0010] Further feedforward control parameters can be interpolated from the defined feedforward control parameters.

[0011] During the feedforward control identification process, the profiles (layouts) of the setpoint variables, synchronized with each other, are provided to and used by the identification unit to identify the feedforward control parameters. Therefore, during the identification process, the profiles (layouts) of the setpoint variables are pre-defined by the setpoint generator based on the identification profiles. These setpoint variables are provided to the closed-loop control unit, the feedforward control unit, and the identification unit.

[0012] The identification profile is designed to excite the mechanical system and can include, for example, a ramp-shaped setpoint curve. Noise signals such as PRBS (pseudo-random binary sequence) signals can also be used.

[0013] Similarly, during the feedforward control identification process, the profile of the actual identified variable can be provided to the identification unit and used by the identification unit to identify the feedforward control parameters.

[0014] In each case, a setpoint position (or a profile of the setpoint position as an identification profile) is preferably pre-defined for the feedforward control identification process, and the actual current or actual torque (or a profile of the actual current or actual torque) is preferably used as the actual identification variable. The setpoint position (or the profile of the setpoint position) is thus provided accordingly to the closed-loop control unit, the feedforward control unit, and the identification unit, wherein, in addition to the position as the corresponding actual variable (which is fed back to the closed-loop control unit to determine the control input variable), the actual current and / or actual torque also appear as actual variables. These actual currents and / or actual torques (or their profiles) are each processed by the identification unit together with the setpoint position (or its profile) to determine the feedforward control parameters.

[0015] In each case, the position (or the profile of the position) is preferably used as the actual identification variable for the feedforward control identification process. The setpoint variable (preferably the setpoint position) is thus provided to both the closed-loop control unit and the feedforward control unit in each case, with the position appearing as the corresponding actual variable, which is fed back to the closed-loop control unit to determine the control input variable. However, these positions (or their profiles) are not only used as the corresponding actual variables but also as actual identification variables, and are therefore processed by the associated identification unit together with the setpoint position (or its profile) of the setpoint variable to determine the feedforward control parameters.

[0016] The feedforward control identification process is preferably performed before the normal operation of the multi-axis system. This means that the multi-axis system only switches to normal operation when the feedforward control unit is parameterized according to the identified feedforward control parameters. To optimize the feedforward control parameters, the feedforward control unit can also first be parameterized using the feedforward control parameters and then controlled using setpoint variables (or the profile of the setpoint variables based on the identified profile). In this way, optimized feedforward control parameters are obtained, which are used for the optimized parameterization of the feedforward control unit. The multi-axis system can then be switched to normal operation using the feedforward control unit that has been parameterized with the optimized feedforward control parameters.

[0017] It can also identify feedforward control parameters and thus optimize them during normal operation. In this case, instead of a special identification profile, the motion profile provided during normal operation is used as a setpoint variable, and the motion profile is adapted to the excitation control loop.

[0018] The setpoint variables that are synchronized with each other (or their contours as identification contours) can be specified (pre-given) by a central setpoint generator or by multiple setpoint generators that are synchronized with each other.

[0019] The basic axes are preferably arranged parallel to each other.

[0020] At least some of the motors, preferably each motor, may be a rotary motor or a linear motor.

[0021] During the feedforward control identification process, the components of the feedforward control parameters that are proportional to acceleration and / or proportional to velocity and / or direction-dependent and / or constant components can be determined. If moving mechanical mass, a force (e.g., torque) is required for this purpose. This force can be provided to overcome inertia (proportional to acceleration) and / or viscous friction (proportional to velocity) and / or static friction (direction-dependent), and / or, particularly in the case of lifting motion, to overcome gravity (constant component). Correspondingly, these forces can be taken into account when determining the feedforward control parameters.

[0022] In the following text, see references Figures 1 to 2 To describe the invention in more detail, Figure 1 and Figure 2 Advantageous embodiments of the invention are shown schematically and by way of example in a non-limiting manner. In the accompanying drawings:

[0023] Figure 1 An exemplary multi-axis system is shown, which has multiple basic axes mechanically connected via drive shafts.

[0024] Figure 2 The identification of feedforward control parameters in a multi-axis system is shown.

[0025] Figure 1 A multi-axis system 1 is shown, comprising multiple basic axes X1, X2 and a drive shaft Y, which is mechanically connected to the basic axes X1, X2 at connection points K1, K2. Connection points K1, K2 can also be considered as connection areas. The positions p1, p2 of connection points K1, K2 on the basic axes X1, X2 can each be changed by means of associated motors M1, M2, thus allowing the drive shaft Y to move relative to the basic axes X1, X2. Motors M1, M2 can each be mounted on the drive shaft Y or on the basic axes X1, X2. Furthermore, an object can be placed on the drive shaft Y, and the object's position is preferably movable along the drive shaft Y (not shown). Figure 1 The system provides a two-dimensional Cartesian coordinate system, with the x-axis (y) and x-axis (x) spanning the xy plane. The fundamental axes X1 and X2 are, for example, parallel to the x-axis, and the driving axis Y is parallel to the y-axis.

[0026] The multi-axis system 1 according to the invention can be used, for example, in injection molding machines, laser cutting machines, glass cutting machines, woodworking machinery, etc., to perform machining or manufacturing processes; in this case, an object can be positioned on the drive axis Y, which is positioned with high precision in the work area by the movement of the drive axis Y. For example, tools and / or cameras can be positioned as objects on the drive axis Y, and thus can be positioned with high precision in a target area (e.g., the work area) by the movement of the drive axis Y, for example, during the machining or manufacturing process. The target position of the object can preferably be moved along the drive axis Y (i.e., along...). Figure 1 The horizontal axis y in the equation can be used, which can be performed by a separate motor. It is also conceivable that a fine positioning system is provided, which performs additional, or even more precise, adjustments to the positions p1, p2 and / or the object along the drive axis Y after the movement / positioning of the drive axis Y and / or the object.

[0027] Figure 1 System 1 shown corresponds to a gantry system. One or more additional basic axes may also be provided, each of which is connected to drive axis Y via an additional coupling point. The position of the additional coupling point on the additional basic axis can be similarly controlled by an additional motor.

[0028] exist Figure 2 The diagram illustrates an exemplary identification of feedforward control parameters. Motors M1 and M2 are each controlled by their own closed-loop control units R1 and R2 via control input variables u1 and u2. Multiple actual variables appear at motors M1 and M2, such as position p1, p2, speed v1, v2, acceleration a1, a2, torque T1, T2, current i1, i2, etc. When controlling motors M1 and M2, a servo amplifier and / or electronic 1:1 drive can also be provided in each case.

[0029] Setpoint variables w1 and w2 are provided to each of the closed-loop control units R1 and R2. Furthermore, corresponding actual variables x1 and x2 from multiple actual variables associated with the setpoint variables w1 and w2 are fed back to the closed-loop control units R1 and R2 to determine the control input variables u1 and u2. As described above, the control input variables u1 and u2 are provided to the associated motors M1 and M2 to control the corresponding actual variables x1 and x2 to the associated setpoint variables w1 and w2 in each case. This means that when the setpoint position p1 is... 设定点 p2 设定点 When specified as setpoint variables w1 and w2, positions p1 and p2 are used as corresponding actual variables x1 and x2 to determine control input parameters u1 and u2.

[0030] The corresponding actual variables x1 and x2 of the axes X1 and X2, i.e., the connection points K1 and K2, can be changed substantially independently of each other via motors M1 and M2. However, since axes X1 and X2 or connection points K1 and K2 are mechanically connected to each other via drive shaft Y, during normal operation of the multi-axis system 1, closed-loop control units R1 and R2 are connected to a common setpoint generator 3, which synchronously provides setpoint variables w1 and w2 to the closed-loop control units R1 and R2. Therefore, during operation, motors M1 and M2 move only as a group by the setpoint variables w1 and w2 provided by the setpoint generator 3 to prevent mechanical tension.

[0031] To improve the closed-loop control characteristics of the closed-loop control units R1 and R2, specifically the tracking error characteristics, a feedforward control unit V1 and V2 are provided for each axis X1 and X2 in each case. Each feedforward control unit V1 and V2 receives the associated setpoint variables w1 and w2 and determines feedforward control values ​​v1 and v2 from them, which are then applied to the control input variables u1 and u2. The feedforward control units V1 and V2 can be integrated into the associated closed-loop control units R1 and R2 in each case, or they can be designed independently.

[0032] However, the feedforward control units V1 and V2 must be parameterized using appropriate feedforward control parameters P1 and P2. For this purpose, according to the present invention, identification units I1 and I2 are provided in each case. Identification units I1 and I2 each receive actual identification variables x1' and x2' from a plurality of actual variables of the associated axes X1 and X2, and use them to determine the feedforward control parameters P1 and P2. The actual identification variables x1' and x2' preferably correspond to the corresponding actual variables x1 and x2.

[0033] Corresponding to the mutually synchronized identification contours, the setpoint variables w1 and w2 (layout patterns), preferably the contours (layout patterns) of the setpoint variables w1 and w2, are preferably provided by a centrally located setpoint generator 3 or multiple mutually synchronized setpoint generators 3. These setpoint variables w1 and w2 are provided to the associated closed-loop control units R1 and R2 and feedforward control units V1 and V2, and preferably also to the identification units I1 and I2.

[0034] Therefore, identification units I1 and I2 can receive not only the actual identification variables x1' and x2' from the multiple actual variables of the associated axes X1 and X2, but also the setpoint variables w1 and w2, in order to identify the feedforward control parameters P1 and P2 from them. The corresponding actual variables x1 and x2 correspond to the setpoint variables w1 and w2. The actual identification variables x1' and x2' can correspond to the corresponding actual variables x1 and x2 or be of different types.

[0035] For example, closed-loop control units R1 and R2 can each be designed as closed-loop position controllers, thus receiving the setpoint position p1. 设定点 p2 设定点 As setpoint variables w1 and w2, and correspondingly controlling positions p1 and p2 as corresponding actual variables x1 and x2. Actual identification variables x1' and x2' (from the plurality of actual variables) are provided to identification units I1 and I2 to identify feedforward control parameters P1 and P2. Positions p1 and p2 can, for example, be used as actual identification variables x1' and x2', thus, actual identification variables x1' and x2' correspond to the corresponding actual variables x1 and x2. However, currents i1 and i2 and / or torques T1 and T2, speeds v1 and v2, accelerations a1 and a2, etc., can also be used as actual identification variables x1' and x2'. In addition, setpoint variables w1 and w2 (preferably setpoint positions p1) 设定点 p2 设定点 This information can be provided to identification units I1 and I2 to determine feedforward control parameters P1 and P2. Setpoint variables w1 and w2 (in the mentioned case, setpoint position p1) 设定点 p2 设定点 The setpoint generator 3 consistently pre-defines each axis X1, X2, preferably as the identification profile (identification pattern, identification curve), however, this pre-definement is done in a synchronized manner.

[0036] Identification based on the associated identification profiles (i.e., the profiles of setpoints w1 and w2) and the feedforward control parameters P1 and P2 based on the profiles of actual identification values ​​x1' and x2' is performed independently in separate identification units I1 and I2. Identification units I1 and I2 also parameterize feedforward control units V1 and V2 according to the determined feedforward control parameters P1 and P2.

[0037] The feedforward control parameters P1 and P2 advantageously include components proportional to acceleration (e.g., moment of inertia), components proportional to velocity (e.g., viscous friction), direction-dependent components (e.g., static friction in the positive / negative directions), and / or constant components (e.g., gravity).

[0038] If similar basic axes X1 and X2 are mechanically connected to drive axis Y via connection points K1 and K2, and connection points K1 and K2 are centrally located on basic axes X1 and X2, then the corresponding feedforward control parameters P1 and P2 of feedforward control units V1 and V2 are the same. However, if connection points K1 and K2 are not centrally located on basic axes X1 and X2, then the feedforward control parameters P1 and P2 of feedforward control units V1 and V2 change, particularly the inertia, which is a component of the acceleration associated with the feedforward control parameters P1 and P2.

[0039] As previously described, the object can be configured to move along the drive axis Y. Advantageously, if the object is positioned at one or more extreme positions along the drive axis Y (e.g., at the head of the drive axis Y), then according to the invention, feedforward control parameters P1, P2 are identified. In this way, at the head of the object located on the Y-axis (i.e.,... Figure 1 In the case of a connection point K1, K2 (first extreme position), the feedforward control parameters P1, P2 can be identified. When the object is located at different head positions (i.e., Figure 1 In the case of another connection point K1, K2 (the second extreme position), further identification of the feedforward control parameters P1, P2 can be performed. By means of, for example, linear interpolation, the feedforward control parameters P1, P2 for any object position along the drive axis Y can be determined based on the feedforward control parameters P1, P2 identified for the corresponding extreme position of the object. This means that the feedforward control parameters P1, P2 are known as functions of the object position (and are known based on the object's position).

Claims

1. A method for operating a multi-axis system (1), the multi-axis system comprising a plurality of basic axes (X1, X2) and at least one drive axis (Y), the drive axis being mechanically coupled to the basic axes (X1, X2) at coupling points (K1, K2), the position (p1, p2) of the coupling points (K1, K2) on the basic axes (X1, X2) being changeable by means of associated motors (M1, M2) to move the drive axis (Y) relative to the basic axes (X1, X2), providing a closed-loop control unit (R1, R2) associated with the motors (M1, M2), and from a pre-given setpoint variable (w1, w2), and from the motors (M1, M2) The control input variables (u1, u2) are determined by using the corresponding actual variables (x1, x2) appearing at point M2, and are provided to the motors (M1, M2) to control the corresponding actual variables (x1, x2) according to the pre-given setpoint variables (w1, w2). Correspondingly, feedforward control units (V1, V2) associated with the motors (M1, M2) are provided. The feedforward control units determine feedforward control values ​​(v1, v2) according to the associated pre-given setpoint variables (w1, w2) and superimpose these feedforward control values ​​onto the associated control input variables (u1, u2). The characteristic of this method is that... A feedforward control identification process is provided, during which actual identification variables (x1', x2') appearing on each motor (M1, M2) are each provided to identification units (I1, I2) associated with the feedforward control units (V1, V2), feedforward control parameters (P1, P2) are identified using the actual identification variables (x1', x2'), and the feedforward control units (V1, V2) are parameterized using the feedforward control parameters (P1, P2).

2. The method according to claim 1, characterized in that, During the feedforward control identification process, the setpoint variables (w1, w2) that are synchronized with each other are provided to the identification unit (I1, I2), and the identification unit (I1, I2) is used to identify the feedforward control parameters (P1, P2).

3. The method according to claim 1, characterized in that, Interpolate additional feedforward control parameters from the determined feedforward control parameters (P1, P2).

4. The method according to claim 2, characterized in that, During the feedforward control identification process, the contours of the setpoint variables (w1, w2) that are synchronized with each other are provided to the identification unit (I1, I2), and the identification unit (I1, I2) is used to identify the feedforward control parameters (P1, P2).

5. The method according to claim 2, characterized in that, The mutually synchronized setpoint variables (w1, w2) are pre-given by a central setpoint generator (3) or by multiple setpoint generators (3) that are synchronized with each other.

6. The method according to claim 1, characterized in that, During the feedforward control identification process, the layout of the actual identification variables (x1', x2') is provided to the identification unit (I1, I2), and the identification unit (I1, I2) is used to identify the feedforward control parameters (P1, P2).

7. The method according to claim 1, characterized in that, The actual currents, i1, i2, or the actual torques, T1, T2, are respectively used as the actual identification variables (x1', x2') for the feedforward control identification process.

8. The method according to claim 1, characterized in that, The positions (p1, p2) are respectively used as the actual identification variables (x1', x2') for the feedforward control identification process.

9. The method according to claim 1, characterized in that, The feedforward control identification process is performed before the normal operation of the multi-axis system (1).

10. The method according to claim 1, characterized in that, The feedforward control identification process is performed during normal operation of the multi-axis system (1).

11. The method according to claim 1, characterized in that, The basic axes (X1, X2) are arranged parallel to each other.

12. The method according to claim 1, characterized in that, At least some of the motors (M1, M2) are rotary motors.

13. The method according to claim 1, characterized in that, At least some of the motors (M1, M2) are linear motors.

14. The method according to claim 1, characterized in that, During the feedforward control identification process, the acceleration-proportional components and / or velocity-proportional components and / or direction-dependent components and / or constant components of the feedforward control parameters (P1, P2) are determined.

15. A multi-axis system (1) comprising a plurality of basic axes (X1, X2) and a drive shaft (Y) mechanically coupled to the basic axes (X1, X2) at connection points (K1, K2), wherein each position (p1, p2) of the connection points (K1, K2) on the basic axes (X1, X2) is changeable by means of associated motors (M1, M2) to move the drive shaft (Y) relative to the basic axes (X1, X2), and providing closed-loop control units (R1, R2), each of the closed-loop control units being associated with the motors (M1, M2) and designed to move from a pre-given setpoint variable (w1, w2), and Control input variables (u1, u2) are determined from the associated corresponding actual variables (x1, x2) appearing at the motors (M1, M2), and the control input variables are provided to the motors (M1, M2) to control these corresponding actual variables (x1, x2) according to the setpoint variables (w1, w2); feedforward control units (V1, V2) are provided, each associated with the basic axis (X1, X2), and designed to determine feedforward control values ​​(v1, v2) from the setpoint variables (w1, w2), and to superimpose the feedforward control values ​​(v1, v2) onto the control input variables (u1, u2), characterized in that... There are identification units (I1, I2), each of which is associated with the basic axis (X1, X2), and each of the identification units is designed to identify feedforward control parameters (P1, P2) using actual identification variables (x1', x2') that appear at the motor, and to parameterize the feedforward control unit (V1, V2) using the feedforward control parameters (P1, P2).

16. The multi-axis system (1) according to claim 15, characterized in that, The recognition units (I1, I2) are each designed to use the contours of the actual recognition variables (x1', x2') to determine the feedforward control parameters (P1, P2).

17. The multi-axis system (1) according to claim 15, characterized in that, At least one setpoint generator (3) is provided, the setpoint generator (3) being designed to pre-given mutually synchronized setpoint variables (w1, w2), and the identification units (I1, I2) are each designed to use the mutually synchronized setpoint variables (w1, w2) to determine the feedforward control parameters (P1, P2).

18. The multi-axis system (1) according to claim 17, characterized in that, At least one of the setpoint generators (3) is designed to pre-define the profiles of the mutually synchronized setpoint variables (w1, w2), and the identification units (I1, I2) are each designed to use the profiles of the mutually synchronized setpoint variables (w1, w2) to determine the feedforward control parameters (P1, P2).

19. The multi-axis system (1) according to claim 17 or claim 18, characterized in that, A central setpoint generator (3) is provided, which is designed to pre-define mutually synchronized setpoint variables (w1, w2) during the feedforward control identification process.

20. The multi-axis system (1) according to claim 17 or claim 18, characterized in that, A plurality of setpoint generators (3) are provided that are synchronized with each other. The plurality of setpoint generators (3) are designed to pre-define the setpoint variables (w1, w2) that are synchronized with each other during the feedforward control identification process.

21. The multi-axis system (1) according to claim 15 or the method according to claim 1, characterized in that, The setpoint variables (w1, w2) are the setpoint positions (p1). 设定点 p2 设定点 The actual variables (x1, x2) are positions (p1, p2).

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