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1. WO2022207431 - METHOD AND SYSTEMS FOR DETERMINING COMPENSATION PARAMETERS

Publication Number WO/2022/207431
Publication Date 06.10.2022
International Application No. PCT/EP2022/057646
International Filing Date 23.03.2022
IPC
G05B 23/02 2006.1
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
23Testing or monitoring of control systems or parts thereof
02Electric testing or monitoring
G05B 19/404 2006.1
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical 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
404characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
CPC
G05B 19/404
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical 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
404characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
G05B 2219/41154
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
41Servomotor, servo controller till figures
41154Friction, compensation for friction
G05B 2219/41161
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
41Servomotor, servo controller till figures
41161Adaptive friction compensation
G05B 2219/41163
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
41Servomotor, servo controller till figures
41163Adapt gain to friction, weight, inertia
G05B 2219/49181
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
49Nc machine tool, till multiple
49181Calculation, estimation, creation of error model using measured error values
G05B 23/0294
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
23Testing or monitoring of control systems or parts thereof
02Electric testing or monitoring
0205by means of a monitoring system capable of detecting and responding to faults
0259characterized by the response to fault detection
0286Modifications to the monitored process, e.g. stopping operation or adapting control
0294Optimizing process, e.g. process efficiency, product quality
Applicants
  • SIEMENS AKTIENGESELLSCHAFT [DE]/[DE]
Inventors
  • POPP, Johannes
  • SCHÄFERS, Elmar
Priority Data
21165783.830.03.2021EP
Publication Language German (de)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN UND SYSTEME ZUM ERMITTELN VON KOMPENSATIONSPARAMETERN
(EN) METHOD AND SYSTEMS FOR DETERMINING COMPENSATION PARAMETERS
(FR) PROCÉDÉ ET SYSTÈMES DE DÉTERMINATION DE PARAMÈTRES DE COMPENSATION
Abstract
(DE) Die Erfindung betrifft ein Verfahren zum Ermitteln von Kompensationsparametern (P1*, P2*), wobei die Kompensationsparameter (P1*, P2*) ein Kompensationssignal (K1*, K2*) festlegen, wobei das Kompensationssignal (K1*, K2*) dazu vorgesehen ist, zumindest eine Störung zu kompensieren, wobei die zumindest eine Störung im Betrieb eines Regelziels (MOT) auftritt, wobei das Regelziel (MOT) im Betrieb von einer Servoantrieb-Regeleinrichtung (SRE) geregelt wird, wobei die Servoantrieb-Regeleinrichtung (SRE) dazu eingerichtet ist, beim Auftreten der zumindest einen Störung anhand der Kompensationsparameter (P1*, P2*) das Kompensationssignal (K1*, K2*) zu generieren, um einen auf die Störung zurückzuführenden Folgefehler zu reduzieren, wobei ein erster Testparametersatz (P1) bereitgestellt wird; die Servoantrieb-Regeleinrichtung (SRE) veranlasst wird, einen Betriebsvorgang, bei dem die zumindest eine Störung auftritt, durchzuführen, wobei die Servoantrieb-Regeleinrichtung (SRE) bei dem Durchführen des Betriebsvorgangs basierend auf dem ersten Testparametersatz (P1) ein erstes Test-Kompensationssignal (K1) generiert und als Rückmeldung ein erstes Messsignal (MS1) erhält; aus dem ersten Messsignal (MS1) ein erstes Fehlersignal (eX(t) ) ermittelt wird; die Kompensationsparameter (P1*) mittels eines Ersatzmodells (EM), wobei das Ersatzmodell (EM) Fehlersignale auf Kompensationssignale abbildet, und unter Verwendung des ersten Fehlersignals (eX(t) ) ermittelt werden.
(EN) The invention relates to a method for determining compensation parameters (P1*, P2*), the compensation parameters (P1*, P2*) defining a compensation signal (K1*, K2*), the compensation signal (K1*, K2*) being intended to compensate for at least one disturbance, the at least one disturbance occurring during operation of a control target (MOT), the control target (MOT) being controlled during operation by a servo drive control device (SRE), the servo drive control device (SRE) being designed to generate the compensation signal (K1*, K2*) on the basis of the compensation parameters (P1*, P2*) when the at least one disturbance occurs in order to reduce a subsequent fault that can be attributed to the disturbance, and a first test parameter set (P1) being provided. In said method: the servo drive control device (SRE) is made to perform an operating process in which the at least one disturbance occurs, the servo drive control device (SRE) generating a first test compensation signal (K1) based on the first test parameter set (P1) when performing the operating process, and receiving a first measurement signal (MS1) as feedback; a first error signal (eX(t)) is determined from the first measurement signal (MS1); the compensation parameters (P1*) are determined by means of a substitution model (EM), said substitition model (EM) mapping error signals to compensation signals, and using the first error signal (eX(t)).
(FR) L'invention concerne un procédé de détermination de paramètres de compensation (P1*, P2*), les paramètres de compensation (P1*, P2*) définissant un signal de compensation (K1*, K2*), le signal de compensation (K1*, K2*) étant destiné à compenser au moins une perturbation, l'au moins une perturbation se produisant pendant le fonctionnement d'une cible de commande (MOT), la cible de commande (MOT) étant commandée pendant le fonctionnement par un dispositif de commande d'entraînement asservi (SRE), le dispositif de commande d'entraînement asservi (SRE) étant conçu pour générer le signal de compensation (K1*, K2*) sur la base des paramètres de compensation (P1*, P2*) lorsque l'au moins une perturbation se produit afin de réduire une défaillance ultérieure qui peut être attribuée à la perturbation, et un premier ensemble de paramètres de test (P1) étant prévu. Dans ledit procédé : le dispositif de commande d'entraînement asservi (SRE) est conçu pour effectuer un processus de fonctionnement dans lequel l'au moins une perturbation se produit, le dispositif de commande d'entraînement asservi (SRE)) générant un premier signal de compensation test (K1) sur la base du premier ensemble de paramètres de test (P1) lors de la réalisation du processus de fonctionnement, et recevant un premier signal de mesure (MS1) en tant que retour ; un premier signal d'erreur (eX(t)) est déterminé à partir du premier signal de mesure (MS1) ; les paramètres de compensation (P1*) sont déterminés au moyen d'un modèle de substitution (EM), ledit modèle de substitution (EM) mettant en correspondance des signaux d'erreur avec des signaux de compensation, et utilisant le premier signal d'erreur (eX(t)).
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