| 摘要 |
A method and device for clock-synchronized motion control in discrete-time sampling systems is provided, in particular for use in numerical control systems for machine tools and robots. The method includes the derivation of any order m from the tool path feedrate (v or x2) or of any order m+1 from the position (s or x1) serving as the manipulated variable (u), the acceleration (a or x3) or the jerk limitation (r or x4) preferably being used. The exact control sequence (+E,rar u+EE ) for the motion control is determined from the n=m+1 discrete-time system matrix equations of the sampling system, given an initial state (+E,rar x+EE k) and desired state vector (x+E,rar x+EE k+v) The manipulated variable (u) is changed in accordance with the specific values of the control sequence (+E,rar u+EE ) within the time reference (k*T) of the sampling system, in particular in the interpolation clock cycle when working with numerical control systems for machine tools and robots. If the order n of the system-matrix equation system is smaller than the number of sampling intervals ( nu ) for traveling from the initial state (+E,rar x+EE k) into the desired state (+E,rar x+EE k+v), the number ( nu -n) of additional degrees of freedom conditional upon this is used to fulfill secondary criteria, in particular to avoid overly stressing mechanical systems being used by minimizing the average manipulated variable energy.
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