Umsetzung einer echtzeitfähigen modellprädiktiven Trajektorienplanung für eine mehrachsige Hybridkinematik auf einer Industriesteuerung

In context of lot-size 1 flexible manufacturing systems have to adjust their motion behaviour automatically to different workpieces. Therefore advanced control strategies are needed, often based on optimization. Offline calculation is usually not sufficient because of the dynamic sequence of different workpieces. The key challenge is to design a real-time self-optimizing control strategy and implement it on an industrial control hardware which executes the optimization online.In the present contribution a real-time model predictive control strategy is introduced which is implemented on a programmable logic controller (PLC). This control strategy is used to calculate minimum-time trajectories for an application-specific redundant hybrid-kinematic mechanism moving between discrete processing positions. The objective function as well as the used models are presented. Moreover, an analysis of the required calculation time, the results achieved and their dependency on optimization parameters are discussed