Powered surgical devices including predictive motor control

A method of controlling a powered electromechanical surgical device, comprising:

• activating a motor to drive extension of a drive component;
• sensing force exerted on the drive component during extension of the drive component;
• controlling a speed of the motor during extension of the drive component in accordance with the sensed force;
• generating a speed profile during extension of the drive component from a retracted position to an extended position, wherein the speed profile includes an initial motor speed and at least one portion corresponding to a second motor speed which is different than the initial motor speed;
• and
• controlling a speed of the motor during retraction of the drive component from the extended position to the retracted position to replicate the same generated speed profile, which includes the at least one portion corresponding to decelerations in motor speed, in reverse.

A method of controlling a powered electromechanical surgical device, comprising:

• activating a motor to drive extension of a drive component between a retracted position and an extended position;
• during extension of the drive component from the retracted position to the extended position:
• sensing a force exerted on the drive component;
• controlling a speed of the motor as a function of the sensed force;
• and
• generating a speed profile for the motor, wherein the speed profile includes:
• an initial motor speed as a function of an initial sensed force;
• and
• at least one decelerated motor speed as a function of a corresponding at least one increase in sensed force;
• and
• during retraction of the drive component from the extended position to the retracted position:
• controlling a retraction speed of the motor, to replicate the same generated speed profile, which includes the at least one portion corresponding to decelerations in motor speed, in reverse.