Body Element Motion Control With Load-Adaptive Drive Modeling
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Solution Overview
Problem
Existing motion control methods for systems with movable body elements, such as feed axes in machine tools or robot axes, are inadequate due to varying mechanical loads and positions, leading to limited contour accuracy and increased manufacturing costs.
Innovation Solution
The body element model is updated in real-time based on mechanical load and position changes, allowing for precise determination of drive signals to improve movement accuracy and reduce vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If jerk limitation is applied to reduce vibrations and improve manufacturing accuracy, then manufacturing precision is improved, but the dynamics and speed of the movement process deteriorate
Solution Approach 1:
The control method dynamically adapts the jerk limitation profile based on the current operating point (position, velocity, acceleration) of the body element. By continuously updating the jerk profile according to real-time system state, the control enables high dynamics during normal operation while maintaining manufacturing precision when needed, thus resolving the contradiction between speed and precision
Solution Approach 2:
The invention changes the jerk limitation parameter dynamically based on operating conditions. Instead of using a fixed jerk profile, the system adjusts the jerk parameters according to the current state of the body element, allowing optimal balance between manufacturing accuracy and movement dynamics across different operating points
2Reliability
If low-pass filtered drive signals are used to avoid critical natural frequencies, then reliability is improved, but the dynamics of the movement process deteriorate
Solution Approach 1:
The control system dynamically adjusts the drive signal characteristics based on the current operating point and system state. By adapting the control parameters in real-time, the system can maintain reliability through appropriate frequency management while preserving movement dynamics, avoiding the need for conservative low-pass filtering that degrades performance
3Manufacturing precision
If path speed is reduced to observe all jerk limits, then manufacturing precision is improved, but productivity deteriorates
Solution Approach 1:
The system changes the jerk limitation parameters dynamically based on the current operating conditions. By adapting the jerk profile to the actual system state, the control enables higher path speeds while maintaining manufacturing precision, thus improving productivity without sacrificing quality
Solution Approach 2:
The control method calculates and prepares optimized jerk profiles in advance based on the desired trajectory and current system state. This preliminary optimization allows the system to execute movements at higher speeds while ensuring jerk limits are satisfied, thereby improving productivity while maintaining precision
Data Source
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AI summary
The invention relates to a method for operating a system (10) with several body elements (20) that are movably connected to one another, wherein at least one first of the body elements (20) is moved by means of a first drive unit (18) which moves the at least one first body element (20) depending on a first drive signal from a control unit (12), wherein the control unit (12) determines a second state of the first body element (20) starting from a first state of the first body element (20), which the first body element (20) is to reach during a movement cycle (26), wherein the control unit (12) determines the first drive signal based on a body element model (24) for the first body element (20) in order to move the first body element (20) from the first state to the second state by means of the first drive unit (18) during the movement cycle (26).According to the invention, the body element model (24) is updated depending on a mechanical load on the first body element (20) in the respective movement cycle (26).