CONTROLLER STRUCTURE FOR MIXED DIRECT/INDIRECT DRIVING OF A MACHINE ELEMENT

摘要

A first drive operates directly on a machine element, whereas a second drive operates on a machine element via a speed-changing device. A position controller receives a position setpoint value and a position actual value of the machine element and determines therefrom a speed setpoint value for the machine element. A first determining device receives the speed setpoint value and determines a resulting speed setpoint value using the speed setpoint value. A first speed controller determines a first force setpoint value from the resulting speed setpoint value and the speed actual value of the machine element and controls the first drive depending on the first force setpoint value. A second speed controller determines a second force setpoint value from the resulting speed setpoint value and the speed actual value of the second drive and controls the second drive depending on the force setpoint value.