Multi-Axis Movement Guidance for Time-Optimal Track Transitions
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for optimizing the movement of machine tools and production machines are inefficient in non-productive route sections, such as approach and withdrawal movements, due to the lack of time-optimal solutions for sequences of path sections with defined velocity and acceleration profiles.
Innovation Solution
The control facility determines a time-optimal movement guidance by coordinating axis guidances to ensure continuous location, velocity, and acceleration transitions between path sections, using a method that subdivides the movement into phases to adjust velocity and acceleration profiles, ensuring that all axes require the same time for their guidance, and modifies preliminary axis guidances to match the longest required axis time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If existing methods are used for optimizing movement in non-productive route sections, then the movement can be controlled with defined velocity and acceleration profiles, but the time duration of these non-productive sections cannot be minimized
Solution Approach 1:
The control facility determines preliminary axis guidances for all axes independently before coordinating them. This preliminary determination allows the system to plan the optimal movement path and timing in advance, enabling time-optimal traversal of non-productive route sections while maintaining continuity of location, velocity, and acceleration transitions.
Solution Approach 2:
The system dynamically coordinates the axis guidances by adjusting the timing and parameters of each axis based on the determined preliminary guidances. This dynamic coordination ensures that all axes are synchronized to achieve time-optimal movement while maintaining continuous transitions in location, velocity, and acceleration, resolving the contradiction between time optimization and coordination complexity.
2Productivity
If the movement is optimized to be time-optimal with continuous location, velocity and acceleration transitions, then the processing efficiency is enhanced, but the coordination complexity between multiple axes increases
Solution Approach 1:
The movement guidance is segmented into discrete phases for each axis, with each phase having specific velocity and acceleration characteristics. This segmentation allows the control facility to independently optimize each axis while maintaining overall coordination, reducing the computational complexity compared to treating all axes as a single coordinated system.
Solution Approach 2:
The control facility acts as an intermediary that receives the end position and start position of the directly subsequent path section, determines the optimal movement guidance, and coordinates all axes accordingly. This intermediary approach centralizes the coordination logic, simplifying the overall system architecture while achieving time-optimal and continuous movement across all axes.
3Loss of time
If the control facility determines final axis guidances for time-optimal movement, then the duration of unproductive route sections is minimized, but the computational load for real-time execution increases
Solution Approach 1:
The control facility performs preliminary determination of axis guidances using the known end position of the current path section and start position of the next path section. By calculating the optimal movement parameters in advance based on these boundary conditions, the system minimizes computational load during real-time execution while achieving time-optimal movement.
Solution Approach 2:
The system changes the parameters of the axis guidances (velocity, acceleration, jerk) to achieve time-optimal movement within computational constraints. By adjusting these parameters based on the determined guidance phases, the control facility optimizes the trade-off between movement speed and computational requirements for real-time execution.
Data Source
AI summary
Machine elements can be displaced along disjoined path sections by position-controlled machine axes. Movement guidance of the machine elements from the end of a path section to the beginning of a directly following path section along a previously unknown path is provided, wherein location, velocity and acceleration are continuous along the previously unknown path and at the transitions between the path sections and the previously unknown path. Velocity, acceleration and jerk are limited. A preliminary axis guidance and a corresponding required axis time is determined for each of the axes. A greatest required axis time is determined therefrom which is then set as a final axis guidance for this axis. For other axes whose preliminary axis times are smaller than the greatest required axis time, the respective preliminary axis guidance is matched to the greatest required axis time, which is then adopted for the other axes as final axis guidance.