POSITION-CONTROLLED CONTROL WITH COMPENSATION OF ELASTICITY-INDUCED POSITION ERRORS

摘要

Control commands (C) are specified for a control device (4) of a machine, said control commands defining a sequence of ideal position target values (x*) for a position-controlled shaft (1) of the machine. This sequence has successive sections. Within the sections, the ideal position target values (x*) either increase monotonically or decrease monotonically. The direction of the monotony changes from section to section. The control device (4) implements a position controller (13) and, corresponding to the sequence, feeds position target values (x*+δx*) resulting from ideal position target values (x*) and position actual values (x) to the position controller (13). From said values, the position controller (13) determines actuating signals (v*) for an actuator (12) of the shaft (1) and thereby controls the position (x) of the shaft (1) correspondingly. The resulting position target values (x*+δx*) correspond to the sums of the ideal position target values (x*) and the additional target values (δx*). Within the sections, the additional target values (δx*) are positive when the ideal position target values (x*) increase monotonically. If the ideal position target values (x*) decrease monotonically, the additional target values (δx*) are negative. The additional target values (δx*) comprise a first component (δx1*) which is dependent exclusively on a position difference. The position difference is either the difference between the respective ideal position target value (x*) and the first ideal position target value (x*) of the respective section or the difference between the respective ideal position target value (x*) and the respective position actual value (x). The absolute value of the first component (δx1*) of the additional target values (δx*) increases as the absolute value of the position difference increases, first strictly monotonically and then at least monotonically.