US 12,191,785 B2
System and method for inertial compensation in a motor drive
Jonathan D. Hoffman, Milwaukee, WI (US); Adam M. Shea, Fox Point, WI (US); and Robert J. Miklosovic, Chardon, OH (US)
Assigned to Rockwell Automation, Technologies, Inc., Mayfield Heights, OH (US)
Filed by Rockwell Automation Technologies, Inc., Mayfield Heights, OH (US)
Filed on Feb. 9, 2023, as Appl. No. 18/107,827.
Prior Publication US 2024/0275321 A1, Aug. 15, 2024
Int. Cl. H02P 23/14 (2006.01); H02P 23/20 (2016.01); H02P 27/08 (2006.01)
CPC H02P 23/14 (2013.01) [H02P 27/08 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling operation of a motor with a motor drive, the method comprising the steps of:
receiving a position feedback signal at the motor drive from a position sensor operatively connected to the motor;
receiving a command signal at the motor drive, wherein the command signal defines a desired operation of the motor;
generating an acceleration feedforward signal with a processor in the motor drive as a function of the command signal;
generating an acceleration reference signal with the processor as a function of the command signal and of the position feedback signal;
generating an estimated disturbance acceleration with the processor as a function of the acceleration reference signal and the position feedback signal;
multiplying the acceleration feedforward signal by a first gain to obtain a first product, wherein the first gain is a function of a load inertia value;
multiplying the estimated disturbance acceleration by a second gain to obtain a second product;
summing the first product with the second product to obtain a modified acceleration reference signal; and
generating an output voltage to control operation of the motor as a function of the modified acceleration reference signal.