Inverter circuits are provided for motor winding sets, respectively. Control units are provided for the motor winding sets to generate control signals related to driving of the inverter circuits and control currents flowing through the motor winding sets, respectively, thereby controlling driving of a motor. The control mode includes a manual steering mode for controlling the motor according to a steering operation on a steering wheel by a driver and an automatic steering mode for controlling the motor independently of the steering operation on the steering wheel by the driver. The control units are capable of switching the control modes and differentiate the current control according to the control mode. By making the current control different according to the control mode, it is possible to attain optimal characteristics which correspond to each control mode.

A power tool/battery pack combination includes an electric motor, one or more electrochemical cells, and a capacitive element. The electric motor is connected in series to a first switch. The series combination of the electric motor and the first switch is connected to a first terminal and a second terminal. The one or more electrochemical cells are connected across a third terminal and a fourth terminal. The third terminal and the fourth terminal are coupled respectively to the first terminal and the second terminal. The one or more electrochemical cells supply power to the electric motor via the first switch. The capacitive element includes one or more capacitors. The capacitive element is connected across the third terminal and the fourth terminal. The capacitive element is capable of storing inductive energy generated by the one or more electrochemical cells.

A power tool/battery pack combination includes an electric motor, one or more electrochemical cells, and a capacitive element. The electric motor is connected in series to a first switch. The series combination of the electric motor and the first switch is connected to a first terminal and a second terminal. The one or more electrochemical cells are connected across a third terminal and a fourth terminal. The third terminal and the fourth terminal are coupled respectively to the first terminal and the second terminal. The one or more electrochemical cells supply power to the electric motor via the first switch. The capacitive element includes one or more capacitors. The capacitive element is connected across the third terminal and the fourth terminal. The capacitive element is capable of storing inductive energy generated by the one or more electrochemical cells.

An electric machine includes a rotor, a stator, at least one measurement circuit, and a controller. The rotor includes a plurality of salient poles arranged radially around a rotation axis of the electric machine and spaced apart from the rotation axis of the electric machine. The stator includes a plurality of coils configured to selectively align with the plurality of salient poles of the rotor. The at least one measurement circuit is configured to measure at least one current through at least one of the plurality of coils. The measured current includes a current ripple. The controller is configured to compute a position of the rotor based on a characteristic of the current ripple.

Embodiments of the present application provide robots and vehicles including a chassis, a drive shaft mounted to the chassis, an integrated steering column, and a set of proximity sensors. The drive shaft may be connected to a drive wheel. The integrated steering column may be operably connected to the drive shaft for steering the drive wheel. The set of proximity sensors may be mounted to the integrated steering column. The set may be configured to scan an ambient environment, where the set includes a first proximity sensor and a second proximity sensor respectively oriented towards each of the opposing lateral sides of the chassis.

An electric motor assembly is configured to determine a motor winding resistance value. Predicted values are determined for a first and second position of motor commutator sections relative to the motor brushes, with at least one of the brushes contacting different numbers of the sections in the first position and the second position. The predicted values are based on a temperature value measured by the temperature sensor and a predetermined dependence of variation of the motor resistance dependent on the temperature value. An electric motor current value is measured by a current sensor when the electric motor is substantially at standstill. A selection is made between different factors for determining the motor resistance value using the electric current value, dependent on which of the predicted values most closely corresponds to the electric current value. The motor resistance is determined using said electric current value according to the selected factor.

A control unit is presented for controlling a driving unit arranged for adjustment of one or more first air guiding flaps of a motorised vehicle between a first outer position and a second outer position. The control unit comprises a communication module for communicating with a vehicle control network for receiving first adjustment instructions for adjusting the first flap, a power supply module comprising an input power terminal for receiving power from a vehicle power network and a first output power terminal for supplying a first current to the driving unit. The control unit further comprises a current sensor module for sensing variations in the first supply current and a control module arranged to control the first supply current in accordance with the adjustment instructions and the sensed variations. By separating the control module from the driving unit, functionality of the control module may be shared over multiple driving units.

An electric motor assembly is configured to determine a motor winding resistance value. Predicted values are determined for a first and second position of motor commutator sections relative to the motor brushes, with at least one of the brushes contacting different numbers of the sections in the first position and the second position. The predicted values are based on a temperature value measured by the temperature sensor and a predetermined dependence of variation of the motor resistance dependent on the temperature value. An electric motor current value is measured by a current sensor when the electric motor is substantially at standstill. A selection is made between different factors for determining the motor resistance value using the electric current value, dependent on which of the predicted values most closely corresponds to the electric current value. The motor resistance is determined using said electric current value according to the selected factor.

A circuit with a Safe-Torque-Off (STO) functionality and a frequency converter including the same are provided. According to embodiments, the circuit may include a first STO channel configured to control on/off of power supply to a high-side driver of a frequency converter based on a first STO signal, a second STO channel configured to control on/off of power supply to a low-side driver of the frequency converter based on a second STO signal, and a third STO channel configured to control supply of a drive control signal from a controller of the frequency converter to the high-side driver and the low-side driver based on a result of a logical operation of the first STO signal and the second STO signal, wherein the logical operation is configured to make the result active in response to at least one of the first and second STO signals being active.

A generator control system is coupled to a motor generator. The system includes a DC port, a first switch unit, a DC bus, a first power conversion circuit, a second power conversion circuit, and a second switch unit. The first power conversion circuit has a first side coupled to the DC bus and a second side coupled to the first switch unit. The second power conversion circuit has a first side coupled to the DC bus and a second side coupled to the motor generator. One end of the second switch unit is coupled to the first power conversion circuit and the first switch unit, and the other end of the second switch unit is coupled to the DC port.