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1. (WO2018077593) METHOD FOR DETERMINING A DEADZONE ANGLE OF A BACKLASH IN A MECHANICAL DRIVE-TRAIN SYSTEM, METHOD FOR CONTROLLING A DRIVE MOTOR CONTROLLER AS WELL AS DRIVE-TRAIN SYSTEM
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Pub. No.: WO/2018/077593 International Application No.: PCT/EP2017/075476
Publication Date: 03.05.2018 International Filing Date: 06.10.2017
Chapter 2 Demand Filed: 25.07.2018
IPC:
G05B 19/404 (2006.01) ,B25J 9/16 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
404
characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
Applicants: SIEMENS AKTIENGESELLSCHAFT[DE/DE]; Werner-von-Siemens-Straße 1 80333 München, DE
TECHNICAL UNIVERSITY OF DENMARK[DK/DK]; Anker Engelundsvej 1 2800 Kgs. Lyngby, DK
Inventors: PAPAGEORGIOUS, Dimitrios; DK
BLANKE, Mogens; DK
NIEMANN, Hans Henrik; DK
RICHTER, Jan; DE
Common
Representative:
SIEMENS AKTIENGESELLSCHAFT; Postfach 22 16 34 80506 München, DE
Priority Data:
16195975.427.10.2016EP
Title (EN) METHOD FOR DETERMINING A DEADZONE ANGLE OF A BACKLASH IN A MECHANICAL DRIVE-TRAIN SYSTEM, METHOD FOR CONTROLLING A DRIVE MOTOR CONTROLLER AS WELL AS DRIVE-TRAIN SYSTEM
(FR) PROCÉDÉ PERMETTANT DE DÉTERMINER UN ANGLE DE ZONE MORTE D'UN JEU DANS UN SYSTÈME DE TRANSMISSION MÉCANIQUE, PROCÉDÉ PERMETTANT DE COMMANDER UN DISPOSITIF DE COMMANDE DE MOTEUR D'ENTRAÎNEMENT, ET SYSTÈME DE TRANSMISSION
Abstract:
(EN) The invention relates to a method for determining a deadzone angle (δ) of a backlash in a mechanical drive-train system (1), wherein the drive train-system (1) comprises a drive motor (2), a load (3) and a shaft (4) for connecting the drive motor (2) with the load (3), the method comprising the steps: estimating an interconnection torque (Tl) in the deadzone, determining the deadzone angle (δ) depending on the interconnecting torque (Tl) by means of an adaptive estimator, wherein in the adaptive estimator the backlash is modelled in terms of a variable stiffness (KBL) of the shaft (4).
(FR) La présente invention se rapporte à un procédé permettant de déterminer un angle de zone morte (δ) d'un jeu dans un système de transmission mécanique (1), le système de transmission (1) comportant un moteur d'entraînement (2), une charge (3) et un arbre (4) qui permet de relier le moteur d'entraînement (2) à la charge (3). Le procédé comprend les étapes consistant : à estimer un couple d'interconnexion (T l ) dans la zone morte ; à déterminer l'angle de zone morte (δ) en fonction du couple d'interconnexion (T l ) au moyen d'un estimateur adaptatif, dans l'estimateur adaptatif le jeu étant modélisé en termes de rigidité variable (K BL ) de l'arbre (4).
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)