Method to command and control the electric motor of an automation unit and connected system

A method for optimized commanding and controlling of an automation unit, the method comprises the following steps:

• providing a central command and control unit,
• performing at least a portion of a complete round angle rotation by a mechanical member connected to and driven by a shaft of an electric motor;
• acquiring, by the central command and control unit, position signals of at least a portion of a complete round angle rotation;
• dividing at least a portion of the round angle equally into one or more sub-phases;
• selecting, by the central command and control unit, a reference current based on a self-learning step, wherein the self-learning step comprises:
• verifying, by the central command and control unit, the position for the one or more sub-phases in the operation circle and the cadence of the operation cycle, and
• storing, by the central command and control unit, values of the reference current in a corresponding database for each sub-phases, wherein the reference current is selected based on one or more factors among an instantaneous tracking error, a reference instantaneous speed of the mechanical member, a first derivative of the reference instantaneous speed of the mechanical member, a second derivative of the reference instantaneous speed of the mechanical member, and an instantaneous inertia of the mechanical member in relation to the cadence of the operation cycle, and wherein at least the instantaneous inertia of the mechanical member is adjustable;
• generating a correcting signal based on an instantaneous reference current so that for the one or more sub-phases at least positions, speeds, and accelerations of the mechanical member substantially correspond to the instantaneous values of the at least positions, speeds, and accelerations of the mechanical member.