Method for providing a compensation variable to compensate for synchronism fluctuations for a motor and automation system comprising a motor

An automation system comprising:

• a sensor unit operatively connected to a motor controller of a motor,
• a motor operatively connected to the motor controller, and
• a controller operatively connected to the motor controller or integrated into the motor controller;
• wherein the sensor unit is configured to record sensor data in a first cycle time and to transmit the recorded sensor data in the first cycle time to the motor controller,
• wherein the motor controller is configured to transmit the received sensor data to the controller in a second cycle time, wherein the second cycle time is selectable to have a different value from the first cycle time, or a value larger than the first cycle time,
• wherein the controller is configured to process the sensor data in the second cycle time,
• wherein processing the sensor data in the second cycle time includes approximating a compensation variable for compensating for synchronism fluctuations for the motor from the sensor data for a compensation interval, and transmitting the processed sensor data in the second cycle time to the motor controller, and
• wherein the motor controller is configured to evaluate the processed sensor data in the first cycle time to provide the compensation variable based on the sensor data processed by the controller in the second cycle time and current sensor data, wherein the compensation variable is determinable in the first cycle time by the motor controller.

A method for providing a compensation variable for compensating for synchronism fluctuations for a motor, wherein:

• the motor comprises a primary component and a secondary component, and
• the primary component comprises a plurality of coils configured to be energized to generate a magnetic field in active connection with a plurality of magnet modules of the secondary component,
• wherein the primary component is configured to be moveable relative to the secondary component, via the active connection;
• wherein the method comprises the following steps:
• recording sensor data by a sensor unit in a first cycle time and transmitting the recorded sensor data in the first cycle time to a motor controller in a first step, wherein the sensor data are actual positions of the primary component of the motor,
• transmitting the sensor data from the motor controller to a controller in a second cycle time in a second step, wherein the second cycle time selectable to have a value different from the first cycle time, or a value larger than the first cycle time,
• processing the sensor data by the controller in a third step in the second cycle time, wherein the controller is configured to approximate the compensation variable from the sensor data for a compensation interval by determining coefficients of a compensation function for the compensation interval from the sensor data in the second cycle time,
• wherein a direction of movement of the primary component of the motor and/or a current speed of the motor is taken into account when adjusting a width of the compensation interval, wherein a minimum width of the compensation interval corresponds to a maximum position change of the primary component with regard to the secondary component within the second cycle time,
• transmitting the processed sensor data from the controller to the motor controller of the motor in the second cycle time in a fourth step, and
• evaluating the processed sensor data to provide the compensation value from the motor controller in a fifth step in the first cycle time based on the coefficient of the compensation function determined in the second cycle time in the third step and on current sensor data, wherein the compensation value is determinable in the first cycle time by the motor controller.