Patent ID: 6341244
Filing Date: 2002-01-22
Classification: B25J,G05B

Abstract:
A method for a feed-forward torque control of an elastic and oscillating multiple-mass system, comprising the steps of:estimating parameters for controlling nominal motion states from an at least 4th-order reference model for controlling a motion of the multiple-mass system; deriving, from the reference model for each axis control loop of the multiple-mass system, an axial nominal position angle, the axial nominal position angle being impressed via a nominal position value path in an interpolation cycle; deriving, from the reference model in each axis control loop of the multiple-mass system, an axial nominal rotation speed value, the axial nominal rotation speed value being impressed via an feed-forward rotation speed control path in the interpolation cycle; deriving, from the reference model in each axis control loop of the multiple-mass system, an axial nominal drive torque value, the axial nominal drive torque value being impressed via an feed-forward torque control path in the interpolation cycle; and deriving from the reference model a spring torque, the spring torque causing oscillations and being associated with a most pronounced natural frequency of the multiple-mass system, the spring torque being compensated for by applying disturbance variables to the feed-forward torque control path.