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AssigneeGima Tt S.R.L.
InventorsIuri Monari, Fiorenzo Draghetti
Estimating the term…
Method to command and control an electric motor of an automation unit. The unit comprises a mechanical member, driven by a drive shaft, a central command and control unit, and a position detection mean. The method provides that the central command and control unit receives the position signals of the shaft of the electric motor and/or of the mechanical member from the position detection mean, divides the operating cycle into a plurality of sub-phases equal with respect to each other, consisting of elementary units and, for each of said sub-phases, or multiple of sub-phases, selects predefined or self-learnt current reference values, and generates a signal consisting of an instantaneous current reference (feed forward) for the electric motor.
Method to optimize the command and control of an electric motor (12) of an automation unit (10), comprising a mechanical member (13), driven by a shaft (15) of said electric motor (12), and a central command and control unit (14), in which the automation unit (10) comprises at least a position detection mean (16) to detect the instantaneous position of said shaft (15) of the electric motor (12) and/or of said mechanical member (13), wherein said electric motor (12) and said mechanical member (13) constitute an operating unit (11) suitable to perform one or more round angles of the mechanical member (13) or parts of them, characterized in that it provides the following steps:
Method as in any claim hereinbefore, characterized in that said current reference (feed forward) is at least a function of one or more between an instantaneous tracking error, a reference instantaneous speed of the mechanical member (13), a first derivative of the reference instantaneous speed of the mechanical member (13), a second derivative of the reference instantaneous speed of the mechanical member (13), an instantaneous inertia of the mechanical member (13) in relation to the cadence of the cycle.
Method as in any of the claims from 6 to 8, characterized in that the current reference (feed forward) is also corrected in relation to the thermal drift determined for example by frictions or by other types of thermal drift, of the mechanical and electrical components of said automation unit (10).
System adopting the method as in any claim hereinbefore, comprising an electric motor (12) that is part of an operating unit (11), said electric motor (12) having a rotating shaft (15) to which a mechanical member (13) is connected, the system also having a position detection mean (16), said operating unit (11) performing at least a round angle of the mechanical member (13) driven by the electric motor (12), or fractions of round angle, characterized in that it comprises a central command and control unit (14) configured to:
Dependencies are inferred from the claim text.