阅读说明：本技术 轨迹计划单元、阀组件和方法 (Trajectory planning unit, valve assembly and method ) 是由 V.法尔肯汉 D.克拉森 R.诺伊曼 于 2020-03-27 设计创作，主要内容包括：本发明涉及一种用于提供轨迹(tr)作为用于调节单元(5)的控制参量的轨迹计划单元(1),所述调节单元(5)用于执行器(2)的调节元件(3)的位置调节,其中,所述轨迹计划单元(1)构造成在理论位置走向(sx)的基础上提供所述轨迹(tr)并且根据至少一个极限值来限制所述轨迹(tr),所述极限值包括速度极限值(vmax)、加速度极限值(amax)、制动加速度极限值(dmax)和/或急动度极限值(jmax)。所述轨迹计划单元(1)构造成根据能够预设的至少一个预设值来提供所述轨迹(tr),所述预设值包括速度起始值(va)、速度最终值(ve)、加速度起始值(aa)和/或加速度最终值(ae)。(The invention relates to a trajectory planning unit (1) for providing a trajectory (tr) as a control variable for a control unit (5), wherein the control unit (5) is used for position control of a control element (3) of an actuator (2), wherein the trajectory planning unit (1) is designed to provide the trajectory (tr) on the basis of a setpoint position profile (sx) and to limit the trajectory (tr) as a function of at least one limit value, wherein the limit values comprise a speed limit value (vmax), an acceleration limit value (amax), a braking acceleration limit value (dmax) and/or a jerk limit value (jmax). The trajectory planning unit (1) is designed to provide the trajectory (tr) according to at least one presettable preset value, which includes a speed start value (va), a speed end value (ve), an acceleration start value (aa) and/or an acceleration end value (ae).)

1. Trajectory planning unit (1) for providing a trajectory (tr) as a control variable for a control unit (5), the control unit (5) being used for position control of a control element (3) of an actuator (2), wherein the trajectory planning unit (1) is designed to provide the trajectory (tr) on the basis of a setpoint position profile (sx) and to limit the trajectory (tr) as a function of at least one limit value, which includes a speed limit value (vmax), an acceleration limit value (amax), a braking acceleration limit value (dmax) and/or a jerk limit value (jmax), characterized in that the trajectory planning unit (1) is designed to provide the trajectory (tr) as a function of at least one presettable preset value, which includes a speed start value (va), a speed end value (ve), and, An acceleration start value (aa) and/or an acceleration end value (ae).

2. The trajectory planning unit (1) as claimed in claim 1, wherein the at least one preset value comprises the final velocity value (ve) and the final acceleration value (ae).

3. The trajectory planning unit (1) according to claim 1 or 2, wherein the at least one preset value comprises the speed start value (va) and the acceleration start value (aa).

4. The trajectory planning unit (1) according to any of the preceding claims, wherein the trajectory planning unit (1) is configured to receive the at least one preset value from a superordinate control (15) and/or the adjustment unit (5).

5. The trajectory planning unit (1) according to any of the preceding claims, wherein the at least one preset value is not equal to zero.

6. The trajectory planning unit (1) according to any of the preceding claims, wherein the trajectory planning unit (1) is configured to provide the trajectory (tr) in real time on the basis of the theoretical position trend (sx).

7. The trajectory planning unit (1) according to any one of the preceding claims, wherein the trajectory planning unit (1) is configured to generate the trajectory (tr) by executing a trajectory generation process and to generate a first acceleration profile within the scope of the trajectory generation process, the first acceleration profile satisfying the at least one limit value and the at least one preset value.

8. The trajectory planning unit (1) as claimed in claim 7, wherein the trajectory planning unit (1) is configured to disregard the theoretical position course (sx) when generating the first acceleration course.

9. The trajectory planning unit (1) according to claim 7 or 8, wherein the trajectory planning unit (1) is configured to generate a second acceleration profile on the basis of the first acceleration profile within the scope of the trajectory generation process, the second acceleration profile satisfying a final position value (xe) contained in the theoretical position profile (sx).

10. The trajectory planning unit (1) according to any of claims 7 to 9, wherein the trajectory planning unit (1) is configured to generate the first acceleration profile on the basis of an acceleration characteristic having a plurality of predetermined acceleration phases.

11. The trajectory planning unit (1) according to claim 10, wherein the acceleration characteristics comprise a first rising phase with a positive slope as a first acceleration phase, a first plateau phase with a constant positive acceleration as a second acceleration phase, a first falling phase with a negative slope as a third acceleration phase, a second plateau phase with zero acceleration as a fourth acceleration phase, a second falling phase with a negative slope as a fifth acceleration phase, a third plateau phase with a constant negative acceleration as a sixth acceleration phase and a second rising phase with a positive slope as a seventh acceleration phase.

12. The trajectory planning unit (1) according to claim 10 or 11, wherein the trajectory planning unit (1) is configured to match the duration of one or more of the acceleration phases in order to generate the second acceleration profile such that a final position value (xe) contained in the theoretical position profile (sx) is satisfied.

13. The trajectory planning unit (1) according to one of the preceding claims, wherein the trajectory planning unit (1) is configured to check whether a position final value (xe) contained in the theoretical position course (sx) can be satisfied together with the at least one preset value, and the trajectory planning unit (1) is further configured to provide an auxiliary trajectory which satisfies the position final value (xe) and does not satisfy the at least one preset value if the trajectory planning unit (1) yields an inspection result which is not possible.

14. The trajectory planning unit (1) according to one of the preceding claims, wherein the trajectory planning unit (1) is configured to provide the trajectory (sx) with a trajectory position final value (txe) for providing the crawl path (sk), the trajectory position final value (txe) being shifted in the direction of a position start value (xa) relative to a position final value (xe) contained in the theoretical position trend (sx).

15. The trajectory planning unit (1) according to any one of the preceding claims, wherein the trajectory (tr) comprises a trajectory position signal (txs), a trajectory velocity signal (tvs), a trajectory acceleration signal (tas), and/or a trajectory jerk signal (tjs).

16. The trajectory planning unit (1) according to any of the preceding claims, wherein the trajectory planning unit (1) is configured to provide a first trajectory and a second trajectory immediately following the first trajectory and to apply a velocity end value and/or an acceleration end value of the first trajectory as a velocity start value and/or an acceleration start value of the second trajectory.

17. Valve assembly (14) comprising a carrier body (20) and a plurality of disc-shaped valve modules (17) arranged at each other on the carrier body (20) and a control module (19) arranged on the carrier body (20), the control module comprising a trajectory planning unit (1) according to any one of the preceding claims.

18. Method for operating a trajectory planning unit (1) according to one of claims 1 to 16 or a valve assembly (14) according to claim 15, comprising the steps of: providing the trajectory (tr) on the basis of the theoretical position course (sx), the at least one limit value and the at least one preset value.

Technical Field

The invention relates to a trajectory planning unit for providing a trajectory as a control variable for a control unit for adjusting the position of an actuator control element. The trajectory planning unit is configured to provide the trajectory on the basis of a theoretical position course and to limit the trajectory in accordance with at least one limit value. The at least one limit value includes a speed limit value, an acceleration limit value, a braking acceleration limit value, and/or a jerk limit value.

Background

DE 102017102749 a1 describes a trajectory generator with an input interface for reading in limit values for acceleration, jerk and speed.

Disclosure of Invention

The object of the present invention is to provide a trajectory planning unit that can be used more flexibly.

The task is solved by a trajectory planning unit according to claim 1. The trajectory planning unit is configured to provide the trajectory according to at least one preset value that can be preset. The preset values include a starting value of velocity for the trajectory, a final value of velocity for the trajectory, a starting value of acceleration for the trajectory, and/or a final value of acceleration for the trajectory.

Conventional trajectory planning units generally provide trajectories having a stationary state, that is to say a state in which both the speed and the acceleration are equal to zero, as a starting state and a final state, respectively.

In contrast, with the current trajectory planning unit it is possible to preset a state different from the stationary state as a starting state and/or a final state for the trajectory. In particular, a trajectory can be provided, in which case a speed and/or an acceleration which is not equal to zero is obtained at the beginning and/or end of the trajectory. In other words, the path can be used to change, in particular, a non-stationary starting state into a different, non-stationary final state. Furthermore, it is expedient to be able to convert a stationary starting state into a non-stationary final state and/or to convert a non-stationary starting state into a stationary final state.

In other words, a path can be provided by the current path planning unit, which path presets the movement of the actuating element from a starting position to a final position, wherein the actuating element has a speed and/or an acceleration in the starting position and in the final position, respectively, which is different from zero.

The trajectory planning unit can therefore also be used in applications in which a non-stationary state of the adjusting element is required at the beginning and/or end of the movement to be performed. Therefore, the trajectory planning unit can be used more flexibly.

Advantageous developments are the subject matter of the dependent claims.

Furthermore, the invention relates to a valve assembly comprising a carrier body and a plurality of disk-shaped valve modules arranged on the carrier body at one another, and a control module arranged on the carrier body, which control module comprises the previously described trajectory planning unit.

Furthermore, the invention relates to a method for operating a trajectory planning unit as described above or a valve assembly as described above, comprising the following steps: the trajectory is provided on the basis of a theoretical position course, at least one limit value and at least one preset value.

The method is expediently configured in accordance with the embodiment of the trajectory planning unit and/or of the valve assembly described here.

Drawings

Exemplary embodiments are explained below with reference to the drawings, in which:

figure 1 shows a block diagram of a drive system with a trajectory planning unit, an adjustment unit and an actuator,

figure 2 shows a schematic representation of the drive system as an exemplary design of a fluid drive system,

FIG. 3 shows a graph of a trajectory, including a trajectory position signal, a trajectory velocity signal, a trajectory acceleration signal and a trajectory jerk signal,

fig. 4 shows a diagram of a track position signal and a speed profile of the track position signal.

Detailed Description

Fig. 1 shows a block diagram of a drive system 100 in which a trajectory planning unit 1 is used as an example. The trajectory planning unit 1 can also be provided as such (that is to say in particular independently of the drive system 100).

The drive system 100 comprises, in addition to the trajectory planning unit 1, a regulating unit 5 and an actuator 2.

The trajectory planning unit 1 is configured to provide a trajectory tr. The trajectory tr is supplied to the regulating unit 5 as a control variable. The control unit 5 is designed to carry out a position control of the actuating element 3 of the actuator 2 using the trajectory tr as a control variable.

The trajectory planning unit 1 is configured to provide the trajectory tr on the basis of the theoretical position trend sx. Furthermore, the trajectory planning unit 1 is configured to limit the trajectory tr on the basis of at least one limit value. The at least one limit value comprises a speed limit value vmax, an acceleration limit value amax, a braking acceleration limit value dmax and/or a jerk limit value jmax.

Furthermore, the trajectory planning unit 1 is configured to provide the trajectory tr according to at least one preset value that can be preset. The at least one preset value comprises a speed starting value va, a speed final value ve, an acceleration starting value aa and/or an acceleration final value ae.

That is to say, the trajectory planning unit 1 has the advantage, inter alia, that it is able to generate the trajectory on the basis of one or more of the mentioned preset values. Expediently, the trajectory planning unit 1 is additionally configured to provide the trajectory on the basis of the mentioned preset values also when all preset values are set to zero. In this case, for example, a trajectory from the rest position into the rest position is provided. Expediently, the trajectory planning unit 1 is additionally configured to provide the trajectory even if none of the mentioned preset values is preset.

Additional exemplary details should be set forth below.

In the example of fig. 1, the theoretical position profile sx is preset for the trajectory planning unit 1. Exemplarily, the trajectory planning unit 1 obtains the theoretical position trend sx from the outside. Expediently, the theoretical position profile sx includes a position final value xe, which can be approached by the actuating element 3. Furthermore, the theoretical position profile sx expediently includes a starting position value xa, from which the movement of the actuating element 3 to the final position value xe should be started. The theoretical position profile sx has, in particular, the form of a step function, expediently with a step from xa to xe.

The trajectory planning unit 1 is configured to provide a trajectory tr on the basis of the theoretical position trend sx. The path tr, like the theoretical position course sx, presets a movement to the position final value xe (expediently starting from the position starting value xa), but here takes into account (in contrast to the theoretical position course sx) one or more of the aforementioned limit values, which result from the physical limitation of the movement of the actuating element 3. The actuating element 3 is subject to physical constraints, for example, such that it is not possible to change its position in a step-like manner from a position starting value xa to a position final value xe. Accordingly, the trajectory planning unit 1 converts the steps predetermined by the theoretical position profile sx into a continuous position profile that can be executed by the actuating element 3 and provides the continuous position profile as the trajectory tr. The position profile provided as the trajectory tr can be differentiated in particular twice in succession.

Expediently, the trajectory planning unit 1 is configured to carry out the provision of the trajectory tr in real time on the basis of the theoretical position profile sx. The trajectory planning unit 1 is in particular designed to convert the theoretical position profile sx into the trajectory tr in real time. The trajectory planning unit 1 is expediently provided by means of a program running on a microcontroller, which is in particular implemented as a real-time program and/or as a deterministic program. Suitably, the trajectory planning unit 1 relates to a real-time system.

The trajectory planning unit 1 is configured to output the trajectory tr to an adjustment unit 5. Suitably, the output trajectory tr includes a trajectory position signal txs, a trajectory velocity signal tvs, a trajectory acceleration signal tas, and/or a trajectory jerk signal tjs.

The adjusting unit 5 is configured to perform a position adjustment of the adjusting element 3 of the actuator 2. The control unit 5 receives feedback variables rf from the fluid actuator 2, such as the actual position, the actual speed and/or the actual acceleration of the control element 3. The control unit 5 is designed to provide a control signal as for actuating the actuator 2 on the basis of the feedback variables rf and the trajectory tr in order to control the position, the speed and/or the acceleration of the control element 3 on the trajectory. Expediently, the control unit 5 calculates a deviation between the trajectory tr and the feedback variable rf and outputs the control signal as such that the deviation is minimized.

At least one limit value is discussed in more detail below.

The trajectory planning unit 1 takes into account, as limit values for generating the trajectory, a speed limit value vmax, an acceleration limit value amax, a braking acceleration limit value dmax and a jerk limit value jmax, as an example. Exemplarily, the trajectory planning unit 1 obtains one or more of the limit values from the outside. Alternatively or additionally, one or more of the limit values can also be provided by the trajectory planning unit 1 itself.

According to a preferred embodiment, the trajectory planning unit 1 is configured to provide the trajectory tr while observing the four limit values mentioned. Exemplarily, these four limit values can be preset.

According to an alternative embodiment, the trajectory planning unit 1 is configured to limit the trajectory 1 on the basis of a subset of the four limit values mentioned. That is, according to the alternative embodiment, less than four limit values can be preset.

Expediently, the trajectory planning unit 1 is designed to provide the trajectory tr such that each preset limit value is met. That is, the trajectory tr is provided with a speed equal to or less than the speed maximum value vmax (if preset) in terms of a value as the maximum speed, an acceleration equal to or less than the acceleration maximum value amax (if preset) as the maximum acceleration, an acceleration greater than or equal to the negative braking acceleration maximum value dmax (if preset) as the maximum braking acceleration, and a jerk equal to or less than the jerk maximum value jmax (if preset) in terms of a value as the maximum jerk.

Expediently, the trajectory planning unit 1 is designed to allow an initial violation of the limit values and then to reach a state of compliance with the limit values, expediently in the shortest possible time, if the speed start value va and/or the acceleration start value aa lie outside the limit values mentioned.

The presetting of the at least one preset value is discussed in more detail below.

Exemplarily, the trajectory planning unit 1 is preset with a speed start value va, a speed end value ve, an acceleration start value aa, and an acceleration end value ae as at least one preset value. Exemplarily, the trajectory planning unit 1 obtains one or more of the preset values from the outside. Alternatively or additionally, one or more of the preset values can also be provided by the trajectory planning unit 1 itself.

Exemplarily, the speed start value va, the speed end value ve, the acceleration start value aa and/or the acceleration end value ae can be freely selected. Expediently, in other cases the speed start value va, the speed end value ve, the acceleration start value aa and the acceleration end value ae are automatically selected to be zero. Suitably, the velocity end value ve is greater than zero or equal to zero.

According to a preferred embodiment, the trajectory planning unit 1 is configured to provide the trajectory tr on the basis of the four preset values mentioned. That is, according to this design, the four preset values can be preset.

According to an alternative embodiment, the trajectory planning unit 1 is configured to provide the trajectory 1 on the basis of a subset of the four preset values mentioned. In other words, according to the alternative embodiment, fewer than four preset values can be preset, wherein at least one preset value is preset.

Suitably, the trajectory planning unit 1 is configured to perform the provision of the trajectory tr according to one, more or all of the mentioned arrangements (permutation).

Suitably, the trajectory planning unit 1 is configured to freely select one or more preset values which are not preset. Suitably, said non-preset value is selected to be zero. The trajectory planning unit 1 is in particular designed to set a default value, which is not preset, to zero.

Suitably, one, more or all of the preset values are not equal to zero.

Suitably, one, more or all of the preset values are variably preset. The variable preset means, in particular, that the preset value changes over time. The preset value is expediently reset, in particular changed, for each generation of a trajectory.

According to a further preferred embodiment, at least the final speed value ve and the final acceleration value ae are predefined and are in particular not equal to zero. The trajectory planning unit 1 is configured to provide the trajectory tr as a function of the preset final velocity value ve and the preset final acceleration value ae.

According to a further preferred embodiment, at least the speed start value va and the acceleration start value aa are predefined and the speed start value and the acceleration start value are in particular not equal to zero. The trajectory planning unit 1 is configured to provide the trajectory tr as a function of a preset speed start value va and a preset acceleration start value aa.

Expediently, the trajectory planning unit 1 is configured to provide the trajectory tr such that each preset value is satisfied. That is, the trajectory tr is provided with a velocity start value va (if preset) as a start velocity, a velocity end value ve (if preset) as a final velocity, an acceleration start value aa (if preset) as a start acceleration, and an acceleration end value ae (if preset) as an acceleration end value.

The trajectory planning unit 1 is expediently designed to provide the trajectory tr as a time-optimal trajectory, i.e. in particular as a trajectory which, starting from the starting position value xa, reaches the final position value xe within a minimum time duration. The trajectory planning unit 1 is configured in particular to provide the trajectory tr such that it does not travel through a stationary state, i.e. a state in which the speed and acceleration are simultaneously zero, on a path from the position start value xa to the position end value xe.

Fig. 2, which is to be discussed in more detail below, shows an exemplary embodiment of the drive system 100 in fig. 2.

The drive system 100 is embodied here as a fluid drive system, in particular as a pneumatic drive system.

The actuator 2 is a fluid actuator, in particular a pneumatic actuator. The actuator 2 is, for example, a drive cylinder with a cylinder 7, the adjusting element 3 being movable relative to the cylinder 7. The adjusting element 3 is embodied as a piston with a piston rod. The adjusting element 3 divides the inner space of the cylinder into a first pressure chamber 8 and a second pressure chamber 9. By loading the pressure chambers 8, 9 with a pressure fluid, for example compressed air, a driving force can be applied to the actuating element 3 in order to thus set the actuating element 3 in motion. The actuator 2 is embodied as a dual-acting drive cylinder. According to an alternative embodiment, the actuator 2 has only one pressure chamber and is accordingly embodied as a single-acting drive cylinder.

A position sensor device 10 is present at the fluid actuator 2, by means of which the actual position, the actual speed and/or the actual acceleration of the actuating element 3 can be detected. For example, the actual position is measured by means of the position sensor arrangement 10 and the actual speed and/or the actual acceleration is calculated on the basis of the first derivative and/or the second derivative of the actual position.

Exemplarily, the drive system 100 comprises a pressure fluid providing device 4. The pressure fluid supply device 4 is designed to provide an actuation signal as for actuating the actuator 2. The actuation signal as is expediently a fluidic signal, in particular a pneumatic signal.

The pressure fluid supply device 4 comprises, by way of example, a valve assembly 14 with two pressure outputs 23, 24, the pressure outputs 23, 24 being connected to the pressure chambers 8, 9 via a fluid connection 28. The pressure fluid supply device 4 is designed to output a fluid signal, in particular a pneumatic signal, as an actuation signal as at its pressure outputs 23, 24 in order to load the pressure chambers 8, 9 with pressure fluid and to set the actuating element 3 in motion.

Exemplarily, the valve assembly 14 comprises a particularly plate-shaped carrier body 20 and a plurality of disk-shaped valve modules 17 arranged on the carrier body 20 at one another. The valve assembly 14 is embodied in particular as a valve island. One, several or all valve modules 17 comprise, for example, a bridge circuit of four 2/2 directional valves, preferably 2/2 directional valves each comprising a pilot valve, which are each embodied as piezo valves. Suitably, the valve module 17 provides the two pressure outputs 23, 24.

Suitably, the valve assembly 4 includes an input/output module 18 communicatively coupled with the position sensor mechanism 10.

The valve assembly 4 furthermore expediently comprises a control module 19, which is arranged in particular on the carrier body 20. The control module 19 is expediently designed to detect the actual position of the actuating element 3 by means of the position sensor arrangement 10. Furthermore, the control module 19 is expediently configured to actuate the valve module 17 in order to initiate the provision of an actuation signal as, for example, a fluid signal at the pressure outputs 23, 24.

The pressure fluid supply device 4, in particular the valve assembly 14, is designed to supply the trajectory planning unit 1 and/or the regulating unit 50 by means of a program, in particular an application program. The program is implemented in particular by the control module 19, for example by a microcontroller of the control module 19. The program is in particular designed to generate the trajectory tr on the basis of the setpoint position profile sx, at least one limit value and at least one preset value. Furthermore, the program is configured to perform a position adjustment of the adjustment element 3 on the basis of the trajectory tr.

Furthermore, the drive system 100 expediently comprises an upper-level control unit 15, for example a programmable control unit SPS, in particular a cloud server 16 and/or a user device 49, for example a mobile device, such as a smartphone, a tablet computer and/or a laptop computer and/or a desktop computer, which are arranged geographically remote from the actuator 2.

The upper control unit 15 is typically communicatively connected to the valve assembly 14 via a local communication connection 25, for example a local network.

The cloud server 16 and/or the user device 49 are connected in a communication manner to each other, to the superordinate control unit 15 and/or to the valve assembly 14 via a wide area network 22, in particular the internet.

The superordinate control unit 15 is expediently designed to provide the setpoint position profile sx and/or at least one limit value and/or at least one preset value.

Suitably, said trajectory planning unit 1 (exemplarily provided on the valve assembly 14) is configured to receive at least one preset value from a superordinate control 15. The trajectory planning unit 1 receives in particular the final velocity value ve and/or the final acceleration value ae from the upper-level control unit 15. Alternatively or additionally to this, the trajectory planning unit 1 can receive the speed start value va and/or the acceleration start value ae from the higher-level control unit 15.

Furthermore, it is also possible for the trajectory planning unit 1 to receive the speed start value va and/or the acceleration start value aa from the regulating unit 5. The trajectory planning unit 1 receives, for example, the actual speed as a speed start value va and/or the actual acceleration as an acceleration start value aa.

Furthermore, it is also possible for the trajectory planning unit 1 to apply the velocity end value and/or the acceleration end value of the trajectory previously provided by the trajectory planning unit 1 as the velocity start value va and/or the acceleration start value aa.

According to another embodiment, the preset value is provided by the cloud server 16 and/or the user device 49, for example, on the basis of a user input.

Suitably, the cloud server 16 is configured to transmit a program, in particular an application program, to the valve assembly 14, so that the program can be executed on the valve assembly 14, by means of which program the trajectory planning unit 1 and/or the regulating unit 5 can be provided. The transmission to the valve assembly 14 is made in response to a user query from, inter alia, a user device 49.

As described above, the trajectory planning unit 1 is preferably provided on the valve assembly 14. According to an alternative embodiment, trajectory planning unit 1 is provided by upper-level control unit 15, cloud server 16 and/or user device 49.

As an alternative to the described design of the drive system 100 as a fluid drive system, the drive system 100 can also be designed differently, for example as an electric drive system, in which case the actuating element is driven by an electric drive.

Fig. 3 shows an exemplary trajectory tr. Illustratively, the trace tr includes a trace position signal txs. Optionally, the trajectory tr further comprises a trajectory velocity signal tvs, a trajectory acceleration signal tas, and/or a trajectory jerk signal tjs. The track speed signal tvs is a first derivative of the track position signal txs, the track acceleration signal tas is a second derivative of the track position signal txs, and the track jerk signal tjs is a third derivative of the track position signal txs.

Suitably, the track position signal txs, the track velocity signal tvs, the track acceleration signal tas, and/or the track jerk signal tjs are each one-dimensional signals. Preferably, the trajectory position signal txs, the trajectory speed signal tvs, the trajectory acceleration signal tas and/or the trajectory jerk signal tjs each comprise a plurality of (in particular temporally) successive signal values. Expediently, the signal values each relate to a scalar signal value.

The path position signal txs is exemplary preset for a linear and/or rotational movement of the actuating element 3, wherein the positions traveled in the preset movement are each indicated by a one-dimensional, in particular scalar, signal value.

Suitably, the track position signal txs is a continuous track position signal, suitably the track velocity signal tvs is a continuous, uniform track velocity signal, suitably the track acceleration signal tas is a continuous, uniform track acceleration signal and/or suitably the track jerk signal is a continuous, uniform track jerk signal. The consistency mentioned relates in particular to the trajectory position signal txs.

According to a preferred embodiment, trajectory tr includes trajectory position signal txs and trajectory speed signal tvs. Suitably, the trajectory position signal txs is provided to a regulator element of the regulating unit 5 and suitably the trajectory speed signal tvs is provided to a pre-control element of the regulating unit 5.

According to a particularly preferred embodiment, the trajectory tr comprises a trajectory position signal txs, a trajectory speed signal tvs, a trajectory acceleration signal tas and/or a trajectory jerk signal tjs. Suitably, the trajectory position signal txs, the trajectory velocity signal tvs and/or the trajectory acceleration signal tas are provided to the regulator elements of the regulating unit 5, and suitably the trajectory position signal txs, the trajectory velocity signal tvs, the trajectory acceleration signal tas and/or the trajectory jerk signal tjs are provided to the pre-control elements of the regulating unit 5.

The illustrated trajectory tr is provided by the trajectory planning unit 1 and is provided on the basis of a theoretical position progression sx, which presets a position step from a position start value xa to a position end value xe at a time t 0.

Based on the theoretical position profile sx, the trajectory planning unit 1 outputs a trajectory tr with a trajectory position signal txs. The track position signal txs goes from a position start value xa to a position end value xe. At time te, the trajectory position signal txs reaches a position final value xe. The trajectory planning unit 1 is in particular configured to provide the trajectory position signal txs as a continuous signal. Further exemplary, the trajectory planning unit 1 is configured to provide the trajectory position signal txs as a continuous signal with respect to its first derivative and its second derivative. As can be seen in fig. 3, the trajectory speed signal tvs and the trajectory acceleration signal tas are also continuous signals, that is to say do not have steps. Illustratively, the third derivative (the trajectory jerk signal tjs) is not continuous and thus has a step.

Expediently, the trajectory planning unit 1 is configured to provide the point in time te and/or the time difference from t0 to te, expediently before the actuating element 3 reaches the position final value xe and/or before the actuating element 3 is driven according to the trajectory tr.

Expediently, the trajectory planning unit 1 provides the trajectory position signal txs as a function of a speed limit vmax, an acceleration limit amax, a braking acceleration limit dmax and a jerk limit jmax. The maximum speed (that is to say the first derivative) is equal to or less than the speed limit vmax by a value, the maximum acceleration (that is to say the second derivative) is equal to or less than the acceleration limit amax and is greater than or equal to the negative braking acceleration limit dmax, and the maximum jerk (that is to say the third derivative) is equal to or less than the jerk limit jmax by a value.

The trajectory planning unit 1 is designed to plan the trajectory such that the limit values are only violated for the shortest possible time duration when the speed start value va and/or the acceleration start value aa lie outside the limit values mentioned.

The trajectory planning unit 1 provides the trajectory position signal txs in accordance with at least one preset value. The speed start value of the trajectory position signal txs (i.e. the speed at time t 0) is equal to the preset speed start value va. The final velocity value of the trajectory position signal txs (i.e., the velocity at the time te) is equal to the preset final velocity value ve. The acceleration start value of the trajectory position signal txs (i.e., the acceleration at time t 0) is equal to the preset acceleration start value aa. The final acceleration value of the trajectory position signal txs (i.e., the acceleration at the time te) is equal to the preset final acceleration value ae.

Suitably, the trajectory planning unit 1 is configured to generate a trajectory position signal txs having a plurality of acceleration phases. The acceleration phase has a positive slope, a negative slope, or no slope, respectively. Furthermore, the acceleration phases each have no curvature.

The acceleration phases include a first acceleration phase ap1, a second acceleration phase ap2, a third acceleration phase ap3, a fourth acceleration phase ap4, a fifth acceleration phase ap5, a sixth acceleration phase ap6, and a seventh acceleration phase ap 7. The acceleration phases follow directly one after the other in the mentioned order. The first acceleration phase ap1 starts at time t0 and the seventh acceleration phase ap7 ends at time te.

Exemplarily, the first acceleration phase ap1 is a first rising phase with a positive slope, the second acceleration phase ap2 is a first plateau phase with a constant positive acceleration, the third acceleration phase ap3 is a first falling phase with a negative slope, the fourth acceleration phase ap4 is a second plateau phase with zero acceleration, the fifth acceleration phase ap5 is a second falling phase with a negative slope, the sixth acceleration phase ap6 is a third plateau phase with a constant negative acceleration, and the seventh acceleration phase ap7 is a second rising phase with a positive slope.

Accordingly, the third derivative of the track position signal txs (the track jerk signal tjs) has seven jerk phases. The value of each jerk phase is constant. Signal steps are respectively carried out between the jerk phases. Exemplarily, the jerk phases comprise a first jerk phase jp1 with a constant positive jerk, a second jerk phase jp2 with a constant zero jerk, a third jerk phase jp3 with a constant negative jerk, a fourth jerk phase jp4 with a constant zero jerk, a fifth jerk phase jp5 with a constant negative jerk, a sixth jerk phase jp6 with a constant zero jerk and a seventh jerk phase jp7 with a constant positive jerk.

In the following, it should be examined in more detail how the trajectory planning unit 1 generates the trajectory tr such that the at least one limit value and the at least one preset value are met. The operating modes discussed below are particularly suitable for generating the trajectory tr in real time, in particular on a microprocessor.

The trajectory planning unit 1 is configured to generate the trajectory tr while applying a trajectory generation process. Within the scope of the trajectory generation process, the trajectory planning unit 1 first generates a first acceleration profile which satisfies the at least one limit value and the at least one preset value.

The first acceleration profile can also be referred to as a first inner acceleration profile. Expediently, the first acceleration profile is an internal intermediate result and is preferably not output by the trajectory planning unit 1, in particular not output as a trajectory tr.

The trajectory planning unit 1 is designed to generate a first acceleration profile on the basis of an acceleration characteristic having a plurality of predetermined acceleration phases. In particular, the acceleration phase is predetermined such that it has a slope or no slope, the sign of the slope is positive or negative, and it has no curvature. The acceleration phases are each expediently implemented as straight lines.

Exemplarily, the acceleration phase of the acceleration characteristic corresponds to the acceleration phase of the trajectory acceleration signal tas discussed above. Thus, the acceleration profile comprises a first rising phase with a positive slope as a first acceleration phase, a first plateau phase with a constant positive acceleration as a second acceleration phase, a first falling phase with a negative slope as a third acceleration phase, a second plateau phase with zero acceleration as a fourth acceleration phase, a second falling phase with a negative slope as a fifth acceleration phase, a third plateau phase with a constant negative acceleration as a sixth acceleration phase and a second rising phase with a positive slope as a seventh acceleration phase.

According to a preferred embodiment, the acceleration characteristic is implemented as explained above, but with a phase with an optionally positive or negative slope as the first acceleration phase and/or a phase with an optionally positive or negative slope as the third acceleration phase.

Expediently, the trajectory planning unit 1 limits the acceleration of the first acceleration profile (i.e. the signal value) to or below an acceleration limit amax and to or above a braking acceleration limit dmax. Furthermore, the trajectory planning unit 1 limits the slope of the first acceleration profile to or below the jerk limit jmax. Furthermore, the trajectory planning unit 1 limits the slope of the first acceleration profile and/or the duration of the acceleration phase in such a way that the sum of the speed start value va and the integral of the first acceleration profile is less than or equal to the speed limit value vmax.

Furthermore, the trajectory planning unit 1 expediently sets the starting value of the first acceleration profile to the acceleration starting value aa and the final value of the first acceleration profile to the acceleration final value ae. Furthermore, the trajectory planning unit 1 adapts the slope of the first acceleration profile and/or the duration of the acceleration phase in such a way that the sum of the speed start value va and the integral of the acceleration profile is equal to the speed end value ve.

The trajectory planning unit 1 is expediently configured to disregard the theoretical position profile sx when generating the first acceleration profile. When the first acceleration profile is generated, the trajectory planning unit 1 first only meets the limit values (exemplary speed limit vmax, acceleration limit amax, braking acceleration limit dmax, and jerk limit jmax) and at least one preset value (exemplary speed start value va, speed end value ve, acceleration start value aa, and acceleration end value ae). Expediently, the theoretical position course sx, in particular the final position value xe, is not taken into account and in particular is not satisfied when generating the first acceleration course.

The trajectory planning unit 1 is expediently configured to generate a second acceleration profile on the basis of the first acceleration profile within the scope of the trajectory generation process. The trajectory planning unit 1 generates the second acceleration profile such that the position final value xe and, where appropriate, also the position start value xa are satisfied.

In particular, the trajectory planning unit 1 is designed to adapt the duration of one or more of the acceleration phases in order to generate the second acceleration profile such that the position final value xe and, where appropriate, the position start value xa contained in the theoretical position profile sx are satisfied.

For example, the trajectory planning unit 1 is designed to adapt the duration of the fourth acceleration phase in order to generate the second acceleration profile such that the position final value xe is reached. Alternatively or additionally to this, the trajectory planning unit 1 is configured to match the durations of one or more of the first three acceleration phases in order to thereby match the velocities during the fourth acceleration phase in order to reach the position final value xe. Expediently, the trajectory planning unit 1 is designed to adapt the duration of one or more of the last three acceleration phases to the first three acceleration phases in order to thereby achieve the predefined final velocity value ve to a large extent at the time point te.

Expediently, the trajectory planning unit 1 is configured not to add additional acceleration phases when generating the second acceleration profile.

Expediently, the trajectory planning unit 1 is configured to generate the trajectory tr on the basis of the second acceleration profile. Exemplarily, the trajectory planning unit 1 provides the trajectory position signal txs as a double integral of the second acceleration profile. Suitably, the trajectory planning unit 1 provides a trajectory speed signal tvs as an integral of the second acceleration profile. Suitably, the trajectory planning unit 1 provides the second acceleration profile as a trajectory acceleration signal tas. Suitably, the trajectory planning unit 1 provides the trajectory jerk signal tjs as a derivative of the second acceleration profile.

The trajectory planning unit 1 is in particular designed to provide the trajectory position signal txs and/or the trajectory speed signal tvs numerically on the basis of the second acceleration profile and/or by numerical integration, in particular if an approximation method is used.

The trajectory planning unit 1 is in particular designed to calculate the trajectory position signal txs and/or the trajectory speed signal tvs from the duration of the acceleration phases of the second acceleration profile, in particular by calculation by means of a phased (phaseababnitswise) analysis via a polynomial.

The trajectory planning unit 1 is in particular designed to set the individual jerk phases optionally to zero, a positive jerk maximum + jmax or a negative jerk maximum-jmax in order to provide the trajectory jerk signal tjs.

Suitably, the trajectory planning unit 1 is configured to check whether the position final value xe can be satisfied together with the at least one preset value. Furthermore, the trajectory planning unit 1 is configured to provide an auxiliary trajectory which satisfies the position final value xe and does not satisfy at least one preset value if the trajectory planning unit 1 yields an examination result which is unlikely to satisfy both the position final value xe and the preset values.

For example, it may happen that the position final value xe is exceeded at each possible match of the first acceleration profile (while maintaining at least one preset value).

If the position final value xe cannot be met together with the preset value, the trajectory planning unit 1 takes precedence over the position final value xe and provides a corresponding auxiliary trajectory. The adjusting unit 5 then performs a position adjustment of the adjusting element 3 on the basis of the auxiliary trajectory.

Expediently, the trajectory planning unit 1 provides the trajectory tr as an auxiliary trajectory as a function of the second acceleration course and more precisely as far as the point in time at which the position end value xe is reached. This may occur, for example, at points in time when the speed and/or acceleration do not correspond to the respective preset values.

Expediently, the trajectory is continued after the position end value xe and/or the time end value te in accordance with the end value as long as no new trajectory is planned or until a new trajectory is planned.

Fig. 4 shows a trajectory tr, which includes a crawl path (Kriechweg) sk. The trajectory position signal txs is plotted with respect to time t in the right graph of fig. 4 and the velocity of the trajectory position signal txs is plotted with respect to position x in the left graph of fig. 4.

The creep path sk is the section preceding the position final value xe, in which case the trajectory position signal txs approaches the position final value xe with a predetermined, in particular reduced speed, exemplarily with a speed final value ve.

The trajectory planning unit 1 is expediently designed to automatically and/or in response to user input and/or in response to commands from the superordinate control unit 15 to provide the trajectory tr with the crawl path sk.

The trajectory planning unit 1 is designed to provide the crawl path sk with a trajectory tr having a trajectory position final value txe, which trajectory position final value txe is shifted forward (i.e. in particular in the direction of the actual position and/or the position start value xa) relative to the position final value xe. The trajectory position final value txe is shifted in particular by a predetermined and/or definable distance (creep path sk) by means of a user input in the direction of the position start value xa. The velocity of the trajectory tr is equal to the velocity end value ve over the entire section between the trajectory position end value txe and the position end value xe.

According to another embodiment, the trajectory planning unit 1 is configured to provide a first trajectory and a second trajectory immediately following the first trajectory and to use a final speed value and/or a final acceleration value of the first trajectory as a starting speed value and/or a starting acceleration value of the second trajectory. Expediently, the trajectory planning unit 1 is designed to provide a plurality of, in particular three or more trajectories and to apply the final velocity values and/or the final acceleration values of the respective preceding trajectory as the starting velocity values and/or the starting acceleration values of the respective trajectory.