The present invention discloses an electric drive train comprising: a rotor or propeller shaft (R), an electric motor assembly (GEMD) configured to drive the rotor or propeller shaft (R), the electric motor assembly (GEMD) comprising a plurality of stacked electric motor elements (Ee1, Ee2, Ee3, Ee4), a power branch of a first topology feeding a stacked electric motor element (Ee1) of the electric motor assembly (GEMD), said power branch (b1) comprising a RESS and an electric generator (G) supplying a power signal to said power branch (b1), a power branch (b3) of a second topology dissimilar from the first topology, said power branch feeding another stacked electric motor element of the electric motor assembly (GEMD), said power branch (b3) comprising: # an electric generator (G) supplying a power signal to said power branch, a matrix converter (Mc3) feeding the another stacked electric motor element (Ee3), # or, an electric generator supplying Direct Current to said power branch and a motor controller feeding the second stacked electric motor element (Ee3).

A servo amplifier selection device includes: an amplifier group allocation section configured to allocate each of a plurality of motors to any one of a plurality of amplifier groups based on an amplifier group number; a total rated output calculation section configured to calculate, for each of the plurality of amplifier groups, a total value of rated outputs of the motors allocated to the amplifier group; a common power source selection section configured to, for each of a plurality of common power sources, selects the common power source that has a magnitude of the power source capacity satisfies a condition of being equal to or greater than the total value of each of the plurality of amplifier groups; and a display control section configured to get the selected common power source to be displayed in a display unit for each of the plurality of amplifier groups.

An auxiliary power supply device includes a parasitic diode forming a parallel circuit together with a second switching element and connected in a forward direction to a main power supply, and a parasitic diode forming a parallel circuit together with a fourth switching element and connected in a reverse direction to an auxiliary power supply. When a state parameter indicates that a reaction force that interferes with operation of an assist motor is applied, an electronic control unit turns ON a first switching element, turns OFF the second switching element, turns ON a third switching element, and turns OFF the fourth switching element. A regenerative current from the assist motor flows to the auxiliary power supply via an inverter, the third switching element, and the parasitic diode.

An auxiliary power supply device includes a parasitic diode forming a parallel circuit together with a second switching element and connected in a forward direction to a main power supply, and a parasitic diode forming a parallel circuit together with a fourth switching element and connected in a reverse direction to an auxiliary power supply. When a state parameter indicates that a reaction force that interferes with operation of an assist motor is applied, an electronic control unit turns ON a first switching element, turns OFF the second switching element, turns ON a third switching element, and turns OFF the fourth switching element. A regenerative current from the assist motor flows to the auxiliary power supply via an inverter, the third switching element, and the parasitic diode.

An unmanned aerial vehicle includes a fuselage, a motor mounted at the fuselage, and a control apparatus configured to control the motor. The control apparatus includes one or more processors configured to obtain a present electrical parameter of a battery configured to power the motor, calculate a compensation amount of a control signal of the motor according to the present electrical parameter, and modify the control signal according to the compensation amount.

An unmanned aerial vehicle includes a fuselage, a motor mounted at the fuselage, and a control apparatus configured to control the motor. The control apparatus includes one or more processors configured to obtain a present electrical parameter of a battery configured to power the motor, calculate a compensation amount of a control signal of the motor according to the present electrical parameter, and modify the control signal according to the compensation amount.

A signal processor is configured to perform a process equivalent to performing a series of fixed-to-rotating coordinate conversion, a predetermined process and then rotating-to-fixed coordinate conversion, while maintaining linearity and time-invariance. The signal processor performs a process given by the following matrix G:

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