Minimum vibration excitation of the process with acceleration rate-of-change limitation by means of adaptation of the jerk profiles

摘要

Control method for the jerk limited speed control (v) of a movable machine element of a numerically controlled industrial machine tool such as a machine tool, a robot or the like, wherein a movement path (x) of the machine element in directly successive interpolatable motion segments is dissolved, characterized in that, in the interpolation resulting jerk profiles (r) in a targeted manner to be adapted in such a way that a filtering effect of the acceleration rate-of-change limitation as bandstop is influenced in such a way that the frequencies of the band filters substantially with the natural frequencies (cowardly) of the machine element and / or of the machine or with a selection of such natural frequencies coincide, and for the targeted adaptation of the frequencies of the band filters a change in shape of the jerk profiles by selecting the corresponding form functions takes place for the jerk.