A motor controller is provided that executes a commutation routine in one of a plurality of operating modes to regulate current provided to drive coils in a linear motion system. The motor controller generated currents for each of the drive coils in a first operating mode to minimize the copper losses in the drive coils, in a second operating mode to maximize the force applied to the mover, in a third operating mode to provide balanced currents between the drive coils, and in a fourth operating mode to provide currents according to a selected operating point that combines characteristics of the first three operating points. The motor controller may also monitor each of the drive coils for saturation and redistribute at least a portion of the current required to control operation of the mover to the other drive coils when one of the drive coils is saturated.

The control device in a linear motor system calculates a current command value for the stator based on a first speed integrated value obtained by integrating a speed deviation between a speed command for the mover and an actual speed of the mover, and performs first digital filter computation on the current command value. The control device calculates a current command value for the stator based on a second speed integrated value obtained by integrating a speed deviation between a speed command for the mover and the mover's actual speed, and performs second digital filter computation on the current command value. The current command calculating unit calculates a second speed integrated value based on the first speed integrated value used by the control device, and performs the second digital filter computation using a value of the first digital filter computation of the control device.

A linear motor control apparatus includes a plurality of coil units which are continuously arranged, a plurality of position detecting units configured to detect positions of a first truck and a second truck which move over the plurality of coil units, and a first deviation calculating unit configured to arithmetically operate deviation information as differences between values of the plurality of position detecting units and a target position. In addition, a first position control unit arithmetically operates current control signals on the basis of the deviation information, a first current control unit supplies driving currents to the plurality of coil units on the basis of the current control signals, and a switching unit outputs the values of the plurality of position detecting units for the first truck to the first position control unit and outputs the values of the plurality of position detecting units for the second truck to a second position control unit.

The present invention relates to a haptic feedback system, and in particular to a device and method for rapidly removing residual vibration in a linear resonant actuator, the method driving the linear resonant actuator by applying a resonant frequency thereto to implement a haptic function and applying a braking signal for removing the residual vibration after the driving of the linear resonant actuator, wherein the braking signal is

a driving wave for generating the same vibration waveform as a residual vibration waveform of the linear resonant actuator, and is applied to the linear resonant actuator at a point of time when a BEMF signal of the linear resonant actuator crosses a zero point, the braking signal being applied in an opposite direction in which it is possible to cancel the residual vibration waveform of the linear resonant actuator.

A transport apparatus includes: a stator; a mover that includes a first scale and is movable along the stator in a first direction; a plurality of first detectors each of which is provided to be able to face the first scale and detects a position of the mover in a second direction crossing the first direction; and a control unit that controls position and/or attitude of the mover, the first scale and the first detector constitute an incremental encoder, wherein the plurality of first detectors are arranged at a predetermined interval along the first direction in the stator, and the control unit corrects position information of the mover by a detection value of one of the first detectors based on position information of the mover by a detection value of another of the first detectors.

The present invention provides a method and device for controlling the n LLM coils (L1, . . . Ln) of an LLM stator making it possible to change the polarity of the coil voltage (UL1, . . . , ULn) of the n LLM coils (L1, . . . Ln) more easily and with little circuit complexity. It is proposed to apply a first operating potential (Ub1) to n first input terminals (A1, . . . , An) of n half bridges (HB1, . . . , HBn), and apply a second operating potential (Ub2) to n second input terminals (B1, . . . , Bn) of the n half bridges. For each half bridge (HB1, . . . HBn), a first switch (S11, . . . , S1n) is connected between a center point (C1, . . . , Cn) of the respective half bridge (HB1, . . . , HBn) and the first input terminal (A1, . . . , An), and a second switch (S21, . . . , S2n) is connected between the center point (C1, . . . , Cn) of the relevant half bridge (HB1, . . . , HBn) and the second input terminal (B1, . . . , Bn). The center point (C1, . . . , Cn) of the n half bridges is connected in each case to n first terminals (L11, . . . , L1n) of the n LLM coils (L1, . . . , Ln), and the second terminals (L11, . . . , L1n) of the n LLM coils (L1, . . . , Ln) are connected in a control point (C) that is regulated to a predetermined potential (Ux).

A camera module includes a lens, a first magnet and a second magnet mounted on a mobile body including the lens, a coil portion arranged near the first magnet and configured to move the first magnet in a first direction, and the magnetic sensor arranged near the second magnet and configured to detect the position of the second magnet in the first direction as a detection direction.

A control system for an electric motor comprising a stator having a plurality of stator coils and a rotor movable along the stator comprises a position detection device and a coil monitoring device. In this case, the position detection device is designed to generate position data representing a position of the rotor along the stator, and the coil monitoring device is designed to generate coil data representing a status of one or a plurality of the stator coils. The control system furthermore comprises a safety device designed to carry out a coordination between the coil data and the position data. Moreover, the safety device is designed to cause the electric motor to be transferred to a safe state if an error has been discovered during the coordination.

A linear motion control device for use in a linear control system is presented. The linear motion control device includes a coil driver to drive a coil that, when driven, effects a linear movement by a motion device having a magnet. The linear motion control device also includes a magnetic field sensor to detect a magnetic field associated with the linear movement and an interface to connect an output of the magnetic field sensor and an input of the coil driver to an external controller. The interface includes a feedback loop to relate the magnetic field sensor output signal to the coil driver input.

A camera module includes a lens, a first magnet and a second magnet mounted on a mobile body including the lens, a coil portion arranged near the first magnet and configured to move the first magnet in a first direction, and the magnetic sensor arranged near the second magnet and configured to detect the position of the second magnet in the first direction as a detection direction.