A controller for a motor vehicle powertrain, the controller being configured to control the amount of torque generated by each of a plurality of drive torque sources in order to generate a net torque corresponding to a predetermined torque demand value, the predetermined torque demand value being determined at least in part by reference to a torque demand signal received by the controller, each drive torque source being coupled via a respective torque transfer arrangement to a respective group of one or more wheels, the controller being configured to cause at least one drive torque source to generate positive or negative torque in dependence on the predetermined torque demand value and to cause the drive torque source to undergo a torque reversal operation in which the direction of torque generated by the at least one drive torque sources changes from one direction to the other, the controller being configured wherein, during a torque reversal operation, the controller limits the rate of change of torque generated by the at least one of the plurality of drive torque sources as the amount of torque generated passes through zero and attempts to compensate for the reduction in rate of change of torque by a corresponding change in the amount of torque generated by one or more other of the plurality of drive torque sources.

A method for controlling a separation between rotational axes of a pair of meshing gears is disclosed. A parameter indicative of a transmission error through the gears is measured and the separation is controlled, aiming to minimise variations in the measured signal. This acts to reduce variations in transmission error and the related vibrations created in the drive system and in the surrounding components. A related drive system and aircraft landing gear are described.

A method of controlling torque of a drive system of an electric vehicle is to provide a drive system torque command generation and torque control method of an electric vehicle capable of generating torque and improving vehicle responsiveness and behavioral responsiveness. The method of controlling torque of a drive system of an electric vehicle includes performing backlash control for limiting a torque slope of a front wheel torque command while the front wheel torque command passes through a backlash band, which is a torque region where there is possibility that backlash occurs in a front wheel-side drive system, and generating a braking torque command for generating a friction braking torque while the backlash control is performed.

A method of controlling torque of a drive system of an electric vehicle includes determining, by a controller, required torque according to a vehicle driving state while the vehicle is driven, and determining a total torque command based on the determined required torque, and performing, by the controller, a front wheel and rear wheel torque distribution process on the total torque command, so that a front wheel torque command and a rear wheel torque command following the total torque command are determined.

A method for operating a transmission device, in which a requested value of an output torque of the transmission device is input and a first control signal for controlling a first actuator and a second control signal for controlling a second actuator of the transmission device is determined according to the requested value. The control signals bring about input torques which, according to the requested value of the output torque, on the output side of the output shaft, cause moments with different signs and with different absolute values that are different from zero, or moments with the same signs and with the same absolute values that are different from zero.

An example system includes a transmission having a first plurality of gears and an extent of backlash. The system also includes a first motor connected to an input shaft of the transmission and a second motor connected to an output shaft of the transmission through a second plurality of gears. A first gear ratio of a first plurality of gears is greater than a second gear ratio of the second plurality of gears. The system may receive a command to change a direction of rotation of the output shaft from a first direction to a second direction. In response to the received command, the first motor may drive the transmission through a first portion of the extent of backlash deadband. The second motor may drive the transmission through a second portion of the extent of backlash deadband. The second portion may be greater than the first portion.

Example embodiments include a driving device having: a plurality of vibrating members that may vibrate when the vibrating members are driven; and a holding part that may hold the vibrating members. The holding part may include a first member with which one or more of the vibrating members may be brought into contact, and a second member with which one or more of the vibrating members may be brought into contact. The first member and the second member may be partially coupled to each other. A grounding member for electrically grounding a member held by the holding part may be brought into contact with one of the first member and the second member that is more difficult to vibrate.

Example embodiments include a driving device having: a plurality of vibrating members that may vibrate when the vibrating members are driven; and a holding part that may hold the vibrating members. The holding part may include a first member with which one or more of the vibrating members may be brought into contact, and a second member with which one or more of the vibrating members may be brought into contact. The first member and the second member may be partially coupled to each other. A grounding member for electrically grounding a member held by the holding part may be brought into contact with one of the first member and the second member that is more difficult to vibrate.

A drive control apparatus includes a movable member; a driver configured to drive the movable member; a transmission device configured to transmit a driving force of the driver to the movable member; a first detector provided on the movable member side of the transmission device configured to detect a driving state of the movable member; a second detector provided on the driver side of the transmission device configured to detect a driving state of the driver; and a controller configured to control driving of the driver. The controller is configured to select, as information to be fed back, first drive information obtained from the first detector, or second drive information obtained from the second detector, based on the first drive information and the second drive information; and control the driving of the driver based on the selected one of the first drive information and the second drive information.

A worm backlash adjustment device includes a drive unit, a backlash adjustment unit, and a control device. The drive unit includes a first motor device, a first drive member, a linking member, a passive member, and a second drive member. The first drive member and the linking member are coaxially driven by the first motor device. The passive member is coaxially connected with the second drive member and linked by the linking member to turn reversely. The two drive members are disposed at two sides of a driven member to drive the driven member, respectively. The backlash adjustment unit includes a second motor device, a screw member, and a backlash adjustment member. Through the screw member, the backlash adjustment member is driven by the second motor device to move linearly. The second drive member has a drive function and a backlash adjustment function.