Patent ID: 11863105
Assignee: ABB SCHWEIZ AG
Field: Electrical machinery, apparatus, energy (Electrical engineering)
Classification: CPC H  B | IPC B  H

Claim 11:
12. A control system for controlling electric motors, the control system comprising a data processing device and a memory having a computer program stored thereon, the computer program comprising program code which, when executed by the data processing device, causes the data processing device to perform the step of determining a planned reference speed of a plurality of electric motors of an industrial robot; wherein the computer program further comprises program code which, when executed by the data processing device, causes the data processing device to perform the steps of:
for each of the electric motors, determining a PWM switching frequency based on the planned reference speed of the electric motor; and
controlling each of the electric motors with an alternating current produced by PWM switching with the determined PWM switching frequency.