US 11,718,482 B2
System and method of monitoring disturbance force in an independent cart system, compensation of said disturbance force
Yuhong Huang, Acton, MA (US); Sean Lu, Westborough, MA (US); and Tracy M. Clark, Boston, MA (US)
Assigned to Rockwell Automation Technologies, Inc., Mayfield Heights, OH (US)
Filed by Rockwell Automation Technologies, Inc., Mayfield Heights, OH (US)
Filed on Aug. 31, 2020, as Appl. No. 17/7,167.
Prior Publication US 2022/0063924 A1, Mar. 3, 2022
Int. Cl. B65G 43/00 (2006.01); G05B 19/33 (2006.01); B65G 54/02 (2006.01)
CPC B65G 43/00 (2013.01) [B65G 54/02 (2013.01); G05B 19/33 (2013.01); G05B 2219/41337 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for monitoring disturbance force in a linear drive system, the method comprising the steps of:
generating a commanded current to be provided to a series of coils spaced along a length of a track in the linear drive system with a controller;
regulating a desired current provided to each of the series of coils with the controller, wherein the desired current corresponds to the commanded current and establishes an electromagnetic field that interacts with at least one mover in the linear drive system to propel the mover along the track;
receiving a feedback signal at the controller, wherein the feedback signal is a measured position, a measured velocity, or both a measured position and a measured velocity of the at least one mover as it is propelled along the track by the desired current;
storing the feedback signal and the commanded current at a corresponding sample time of the feedback signal in memory of the controller; and
determining a disturbance force experienced by the at least one mover at a plurality of positions along the track, wherein the disturbance force is determined by the controller and is a function of the commanded current and the stored feedback signal.