Method and position controller for the adaptive position control of an electromechanical drive affected by friction

摘要

In a method and an adaptive position controller for the control of an electromechanical drive affected by friction, which is especially suitable for the digital adaptive position control of the quantity-determining element (control rod) of an electric diesel injection pump, it is proposed to arrange, in parallel with the state controller with preferably PIDD2 characteristic, a pre-control characteristic which contains upwards and downwards characteristic curves which correspond to the friction hysteresis of the path. The control variable is fed to the pre-control characteristic and the control deviation is fed to the state controller in the bypass, there being obtained from the combination of the two position signal components generated in this way from the pre-controller and the controller a position output value which ensures rapid and highly accurate positioning of the electromechanical drive. In this case, the characteristic curves in the positioning pre-control characteristic are matched on-line to the varying parameters of the path. IMAGE