METHOD FOR CONTROLLING AN ELECTRIC MOTOR OF A SERVO-PUMP OF AN INDUSTRIAL MACHINE TO MODIFY A HYDRAULIC PRESSURE APPLIED BY THE SERVO-PUMP TO A LOAD

摘要

The invention relates to a method for controlling an electric motor (M) associated with a servo-pump (200) of an industrial machine in order to modify a hydraulic pressure applied by the servo-pump (200) to a hydraulic load (10). The electric motor can be moved on the basis of electric actuation signals generated by an electronic control unit (100). The method comprises the steps of: - providing the electronic control unit with a first signal (Pfed) indicative of a current pressure value detected in a hydraulic circuit (11) of the servo-pump; - providing the electronic control unit with a second signal (Pref) indicative of a reference pressure value; - providing the electronic control unit with a third signal (Sfed) indicative of a displacement (¸) angle of a rotor of the motor, detected on a plane orthogonal to the rotation axis from a reference position; - generating, based on said first, second and third signals, a fourth signal (BTref) indicative of a driving torque value which can be applied to the motor and associated with a torque control signal (Tref) configured to control the movement of the motor of the servo-pump. The method further comprises the following steps carried out by the electronic control unit: - comparing the first and the second signals to generate a pressure error signal (PE); - multiplying the pressure error signal by a trigonometric function calculated in relation to the displacement angle obtained from the third signal to generate a first transformed signal (PEt); - integrating over time the first transformed signal to generate a first integrated signal (PEint); - multiplying the first integrated signal by the trigonometric function calculated in relation to the sum of said displacement angle (¸) and an offset angle (¸ off ) to generate a second transformed signal (Tff), which is representative of a compensation driving torque value; - adding the second transformed signal to the fourth signal to generate the control signal (Tref).