Patent ID: 9081377
Filing Date: 2015-07-14
Classification: G05B

Abstract:
1. A closed-loop control structure for positioning a load with the aid of an electric motor, comprising: an arrangement adapted to actively damp unwanted, low-frequency vibrations; a position controller adapted to receive a deviation of an actual position of the load from a setpoint position and to output a setpoint speed; a speed controller adapted to receive a deviation of an actual speed of the load from the setpoint speed and to output a setpoint current; a current controller adapted to receive a deviation of an actual current of the motor from the setpoint current and to output a setpoint voltage for operating the motor; wherein damping signals adapted to counteract unwanted, low-frequency vibrations are injectable in the control loop; wherein a first damping signal and a second damping signal of different phase angle are derivable from a single sensor signal; wherein the first damping signal is injectable between the position controller and the speed controller; and wherein the second damping signal is injectable between the speed controller and the current controller.