Disclosed is a method for controlling a laundry treating apparatus that includes: a tub; a main drum rotatably disposed within the tub; a driver configured to drive the main drum; and an auxiliary drum disposed in the main drum configured to be attached to or be detached from the main drum. The method comprises a positioning operation for allowing a predetermined portion of the auxiliary drum to be positioned at a target position via a rotation of the auxiliary drum, wherein the positioning operation is configured such that when the predetermined portion reaches a braking-initiation position set such that the predetermined portion is positioned at the target position, a braking of the auxiliary drum is initiated, wherein the braking-initiation position is set to vary based on a magnitude of a load applied to the driver.

An interference of control signals is caused by a deviation in the start timings of counting between counters of timer counter units of a first MCU and a second MCU. And thus, when a count value of the counter of the MCU of a parent reaches a predetermined value D, the MCU of the parent transmits a trigger signal to the MCU of a child. The MCU of the child obtains the time difference between the start timings of the counts of the counters of the parent and the child from the difference between the D and a count value E of the child at that time. A count period of the child until a maximum value of the count value is reached is adjusted by the time difference.

An interference of control signals is caused by a deviation in the start timings of counting between counters of timer counter units of a first MCU and a second MCU. And thus, when a count value of the counter of the MCU of a parent reaches a predetermined value D, the MCU of the parent transmits a trigger signal to the MCU of a child. The MCU of the child obtains the time difference between the start timings of the counts of the counters of the parent and the child from the difference between the D and a count value E of the child at that time. A count period of the child until a maximum value of the count value is reached is adjusted by the time difference.

A detachable motor pack, for use with multiple electrical surgical instruments, includes a housing; a plurality of motors retained within the housing; a controller configured to control one or more operations of the plurality of motors; a first interface portion, wherein the first interface portion is configured to releasably attach to a hand-held surgical instrument and to a robotic surgical instrument; and a second interface portion, wherein the second interface portion is configured to releasably attach to a first surgical tool of the hand-held surgical instrument and to a second surgical tool of the robotic surgical instrument.

A modulation routine in a motor drive under lightly loaded conditions which prevents DC bus voltage pump-up includes both active states and zero states. In a first zero state, each phase of the motor is connected to a negative rail of the DC bus, and in a second zero state, each phase of the motor is connected to a positive rail of the DC bus. When motor is lightly loaded or unloaded such that DC bus voltage pump-up may occur, the two zero states are utilized in an uneven manner. The specific division of the zero state between the first and second zero states may be selected in a manner that prevents the DC bus voltage pump-up from occurring.

An apparatus for controlling a multi-winding motor may include: a current detector configured to detect currents of a plurality of windings, each of the windings associated with a corresponding rotor; an abnormal determiner configured to determine abnormality of at least one of the plurality of windings on the basis of the currents of the plurality of windings; a compensation calculation unit configured to calculate a current phase offset and/or compensation current of each of the plurality of windings according to the determined abnormality; and a signal output unit configured to output control signals to control at least one of the plurality of windings according to the current phase offset and/or the compensation current.

A control device of a motor includes difference calculation circuitry that calculates a difference between a current rotation speed and a target rotation speed of the motor, coefficient correction circuitry that outputs corrected proportion coefficient and integration coefficient by multiplying each of an initially set proportion coefficient and integration coefficient by a correction coefficient, output voltage determination circuitry that calculates at least one of a proportional term in which the difference is multiplied by the corrected proportion coefficient and an integral term in which the difference is multiplied by the corrected integration coefficient and the result is integrated and determines one of the proportional term and the integral term or the sum of the two terms as a control value of the output voltage, and signal generation circuitry that generates a control signal on the basis of the control value.

A first arithmetic section calculates a current rotation component phase value and a current rotation component amplitude value. A second arithmetic section calculates a displacement rotation component phase value and a displacement rotation component amplitude value. A third arithmetic section calculates a ratio between the amplitude value of the current rotation frequency component and the amplitude value of the displacement rotation frequency component. Feedback control is performed such that the current rotation component phase value is equal to a value obtained by addition of a phase value of 180 degrees to the displacement rotation component phase value and that the amplitude value of the current rotation frequency component is equal to a product of the displacement rotation frequency component and the ratio.

A first arithmetic section calculates a current rotation component phase value and a current rotation component amplitude value. A second arithmetic section calculates a displacement rotation component phase value and a displacement rotation component amplitude value. A third arithmetic section calculates a ratio between the amplitude value of the current rotation frequency component and the amplitude value of the displacement rotation frequency component. Feedback control is performed such that the current rotation component phase value is equal to a value obtained by addition of a phase value of 180 degrees to the displacement rotation component phase value and that the amplitude value of the current rotation frequency component is equal to a product of the displacement rotation frequency component and the ratio.

The present disclosure relates to a driver device, which can drive a load in high temperatures. In a driver IC which drives a motor by switch-driving four output transistors, a gate driving circuit is configured to render a slew rate of a gate voltage of each output transistor to be adjustable at multiple steps while the output transistor is switching. Although a predetermined rate is set to be the slew rate of the gate voltage in a normal state, the slew rate is increased at high temperatures.