Motor drive with velocity noise filter

An electronic line system, comprising:

• a signal generator operable to generate a reference velocity signal;
• a virtual encoder operable to receive the reference velocity signal and generate a reference position signal based thereon;
• a master drive unit operable to receive the reference velocity and reference position signals, comprising:
• at least two motors;
• a position feedback device operable to generate a feedback position signal relating to a position of the at least two motors;
• a position regulator operable to compare the reference position signal to the feedback position signal to generate a position error signal;
• a velocity noise filter coupled to the position feedback device and operable to filter the feedback position signal over a predetermined number of samples to generate a velocity feedback signal;
• a velocity regulator operable to compare a sum of the reference velocity signal and the position error signal to the velocity feedback signal to generate a velocity error signal;
• a motor control unit operable to adjust a torque input signal applied to a first of the at least two motors based on the velocity error signal;
• and
• at least one slave drive unit operable to receive the reference velocity and reference position signals in a synchronous manner with respect to the master drive unit and control operation of a second of the at least two motors to be substantially synchronized with the first of the at least two motors.

A method for controlling operation of a plurality of motors to substantially synchronize the plurality of motors, comprising:

• generating a position signal relating to a position of a first motor;
• filtering the position signal over a predetermined number of samples using a finite impulse response filter to generate a velocity feedback signal for the first motor;
• adjusting a torque signal applied to the first motor based on the velocity feedback signal;
• and
• adjusting a torque input signal applied to a second motor to control operation of a second to be substantially synchronized with the first of the at least two motors.