# US 11,942,883 B2 · Method of controlling a drive motor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,942,883 B2 - Document ID: US11942883B2 - Status: Granted - Kind: B2 - Application number: 16/903,626 - Filed: 2020-06-17 - Published: 2020-12-17 - Granted: 2024-03-26 - Earliest claimed: 2019-06-17 - Assignees: Schneider Electric Industries SAS - Applicants: Schneider Electric Industries SAS - Inventors: Sebastian Walter; Dirk Hempel - Web page: https://patentgrep.com/patent/US11942883B2 ## CPC - G05B 13/042: {in which a parameter or coefficient is automatically adjusted to optimise the performance} - H02P 23/0022: {Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation} - G05B 19/41885: {characterised by modeling, simulation of the manufacturing system} - G05B 2219/41057: Stiffness, deformation of slide, drive - G05B 2219/41434: Feedforward FFW - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## Abstract A method of controlling a drive, in particular an electric drive, of an industrial machine, in which method a drive control controls a drive motor and the drive motor drives a mechanical system having one or more coupled components. The drive control carries out a simulation of the mechanical system of the machine with a simulation model and performs a feedforward control of the drive motor based on the simulation. ## Claims ### Claim 1 A method of controlling a drive motor of an industrial machine, wherein a drive controller is configured to control the drive motor, and the drive motor drives a mechanical system having a plurality of coupled components, the method comprising: performing, by the drive controller, a simulation of the mechanical system of the machine using a transfer function that is part of a simulation model, and performing a feedforward control of the drive motor based on results of the simulation, wherein the transfer function describes behavior of at least some of the coupled components of the mechanical system, and wherein the transfer function is a table relating values of a first variable describing a movement of a first component of the components of the mechanical system to values of a second variable describing a movement of a second component of the components of the mechanical system, said second component being coupled to the first component. ### Claim 2 (depends on 1) The method in accordance with claim 1, wherein the simulation model further comprises information on a structure of the mechanical system. ### Claim 3 (depends on 1) The method in accordance with claim 1, wherein the simulation model further comprises a representation of the plurality of coupled components of the mechanical system, and the performing step further comprises repeatedly recalculating the representation. ### Claim 4 (depends on 1) The method in accordance with claim 1, wherein the simulation model used by the drive controller to perform the simulation is created based on a secondary simulation model and/or is supplied with data from the secondary simulation model. ### Claim 5 (depends on 4) The method in accordance with claim 4, wherein the secondary simulation model is generated outside the drive controller. ### Claim 6 (depends on 1) The method in accordance with claim 1, wherein the simulation model used by the drive controller to perform the simulation is created from a CAD model of the industrial machine. ### Claim 7 (depends on 1) The method in accordance with claim 1, wherein the performing step further comprises performing the simulation in real time during operation of the industrial machine. ### Claim 8 (depends on 1) The method in accordance with claim 1, wherein the performing step further comprises calculating, in the simulation, at least one of a force requirement and a torque requirement of the drive motor expected in real time. ### Claim 9 (depends on 1) The method in accordance with claim 1, wherein the performing step further comprises performing the simulation using a program code of the drive controller. ### Claim 10 (depends on 1) The method in accordance with claim 1, wherein the drive controller includes a head controller and a motor controller, with the simulation and the feedforward control being performed by the head controller. ### Claim 11 (depends on 1) The method in accordance with claim 1, further comprising selecting the drive motor by executing the simulation before putting the industrial machine into operation. ### Claim 12 (depends on 1) The method in accordance with claim 1, further comprising performing measurements of parameters of the coupled components of the mechanical system when putting the industrial machine into operation and/or during operation of the industrial machine, and updating the simulation model with the measured parameters. ### Claim 13 (depends on 1) The method in accordance with claim 1, further comprising updating the simulation model after a predetermined time interval and/or after a predetermined event. ### Claim 14 (depends on 1) The method in accordance with claim 1, wherein the transfer function relates one of a translational speed and a translational position of the first component to one of a rotational position and a rotational speed of the second component. ### Claim 15 An industrial machine, comprising: a drive motor; a mechanical system having a plurality of coupled components; and a drive controller configured to control the drive motor, wherein the drive motor drives the mechanical system, wherein the drive controller is further configured to execute a simulation of the mechanical system of the industrial machine using a transfer function that is part of a simulation model, and perform feedforward control of the drive motor based on results of the simulation, wherein the transfer function describes behavior of at least some of the coupled components of the mechanical system, and wherein the transfer function is a table relating values of a first variable describing a movement of a first component of the components of the mechanical system to values of a second variable describing a movement of a second component of the components of the mechanical system, said second component being coupled to the first component. ### Claim 16 (depends on 15) The industrial machine of claim 15, wherein the drive motor is an electric drive motor.