Method for controlling the movement of a drive axis of a drive unit
To be able to activate a smoothing filter for a setpoint, with which the movement of a drive axis (A, Ai) of a drive unit (AE) can also be controlled during the movement without a negative effect on the movement, it is provided that the smoothing filter ( 10 ) is initialized with a setpoint profile (S init ) so that a current movement phase ((S 0 , {dot over (S)} 0 , . . . , S 0 (x) )) is continued continuously and the repeated time derivative (S (x+1) ) of the highest time derivative (S (x) ) of the setpoint (S(t), S(k)) is limited.
1. Method for controlling the movement of a drive axis (A, Ai) of a drive unit (AE), wherein the movement of the drive axis (A, Ai) is controlled in a cycle step (n) by specifying a setpoint (S(t), S(k)) of the movement, by means of which there results a movement phase ((S(t), {dot over (S)}(t), . . . , S(t) (x) ), (S(k), {dot over (S)}(k), . . . , S(k) (x) )) of the movement of the drive axis (A, Ai), wherein a smoothing filter ( 10 ) in the form of an averaging filter calculates the new setpoint as the mean value ( S (t), S (k)) of the previous setpoints (S(t), S(k)) at a filter time (t R , n R ) in the past, wherein the smoothing filter ( 10 ) is activated during the movement with a current movement phase ((S 0 , {dot over (S)} 0 , . . . , S 0 (x) )) at a time (t ein >0, k ein >0), that, for the previous time interval ([t ein −t R , t ein ], {k ein −n R +1, . . . , k ein }), a function (f(t), f(k)) is assumed for the highest time derivative (S(t) (x) , S(k) (x) ) of the setpoint ( S (t), S (k)) in the movement phase ((S(t), {dot over (S)}(t), . . . , S(t) (x) ), (S(k), {dot over (S)}(k), . . . , S(k) (x) )), the mean value ( f ) of which over the previous time interval ([t ein −t R , t ein ], {k ein −n R +1, . . . , k ein }) corresponds to the current value (S 0 (x) ) of the highest time derivative (S(t) (x) , S(k) (x) ) at the time (t ein , k ein ) of activation of the smoothing filter ( 10 ), that for the previous time interval [t ein −t R , t ein ], {k ein −n R +1, . . . k ein }), the lower time derivatives ((S(t), {dot over (S)}(t), . . . , S(t) (x−1) ), (S(k), {dot over (S)}(k), . . . , S(k) (x−1) )) of the setpoint (S(t), S(k)) are given by the condition that the mean values (( S , {dot over ( S )}, . . . , S (x−1) )) of the lower time derivatives of the setpoint (S(t), S(k)) over the previous time interval ([t ein −t R , t ein ], {k ein −n R +1, . . . k ein }) in each case correspond to the current values ((S 0 , {dot over (S)} 0 , . . . , S 0 (x−1) )) of the lower time derivatives of the setpoint (S(t), S(k)) at the time (t ein , k ein ) of activation of the smoothing filter ( 10 ), and that on activation, for the previous time interval ([t ein −t R , t ein ], {k ein −n R +1, . . . , k ein }), the smoothing filter ( 10 ) is initialized with the calculated setpoints (S(t), S(k)) for this previous time interval ([t ein −t R , t ein ], {k ein −n R +1, . . . , k ein }) as setpoint profile (S init ).
2. The method according to claim 1 , wherein, for the previous time interval ([t ein −t R , t ein ], {k ein −n R +1, . . . k ein }), a constant function (f(t), f(k)) is assumed for the highest time derivative (S(t) (x) , S(k) (x) ) of the setpoint (S(t), S(k)).
3. The method according to claim 1 , wherein the setpoint (S(k)) of the setpoint profile (S init ) is updated in every cycle step (n) and stored in a circular buffer ( 20 ) with n R storage locations, wherein the updated setpoint (S(k)) shifts the oldest setpoint (S(k−n R )) out of the circular buffer 20 ), wherein the setpoints (S(k−n R , . . . , S(k)) stored in the circular buffer ( 20 ) form the setpoint profile (S init ) for initializing the smoothing filter ( 10 ).