Patent ID: 9407196
Filing Date: 2016-08-02
CPC Classification: G05B,H02P

Claim Text:
1. 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: 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.