A motor control apparatus includes first and second detectors, and a switcher. The first detector detects a rotation position of a rotor using a signal from a resolver, and allows resolution of the rotation position to become lower in a region where a rotation speed of the rotor is higher than a first predetermined value, than in a region where the rotation speed is equal to or lower than the first predetermined value. The second detector estimates the rotation position using a current of the motor. The switcher switches between a first control and a second control in the region where the rotation speed is equal to or lower than the first predetermined value. The first control includes controlling the motor using the rotation position detected by the first detector. The second control includes controlling the motor using the rotation position estimated by the second detector.

A method for regulating operation of an induction motor having a rotor includes calculating a rotor flux angle error value, via a flux observer of a controller, using estimated d-axis and q-axis flux values of the rotor, estimating rotor position using a position observer of the controller, and calculating slip position of the rotor using d-axis and q-axis stator currents. The method also includes estimating a rotor flux angle as a function of slip position and estimated rotor position, calculating a corrected rotor flux angle by selectively adding the rotor flux angle error value to the estimated rotor flux angle, and controlling output torque of the motor using the corrected rotor flux angle. A logic switch may be used to selectively add the rotor flux angle.

Systems, methods, and apparatus related to a homing mechanism within a drive mechanism of a lacing engine for an automated footwear platform are described. In an example, the homing apparatus can include an indexing wheel, a plurality of Geneva teeth and a stop tooth. The plurality of Geneva teeth can be distributed around a portion of a perimeter of the indexing wheel. Each Geneva tooth of the plurality of Geneva teeth can include side profiles conforming to a first side profile that generates a first force when engaged by an index tooth on a portion of the drive mechanism. The stop tooth can be located along the perimeter of the indexing wheel between two Geneva teeth. Additionally, the stop tooth can include side profiles conforming to a second side profile that generates a second force when engaged by the index tooth.

A switching module switches between receiving a first output from a sensor and a second output from a sensor-less position detection module each indicating a rotor position error of a motor. A position determining module determines a rotor position of the motor based on an output of the switching module and generates a control signal to control a parameter of the motor. A sample and hold module operates on a sum of the output of the switching module and an output of the sample and hold module from a prior instance of switching between the first and second outputs. The position determining module scales the output of the sample and hold module using first and second gains to generate first and second scaled outputs, and generates the control signal based on the output of the switching module and the first and second scaled outputs.

A window control device for a vehicle, and a method therefor, include a driving motor configured to drive a window glass, a first sensor configured to generate one pulse signal corresponding to a rotation of the driving motor, a second sensor configured to sense a voltage signal provided to the driving motor, and a controller configured to perform a safety function based on the one pulse signal generated by the first sensor and the voltage signal sensed by the second sensor. Although a fault occurs in one of two hall sensors, the window control device may normally perform the safety function.

The present invention relates to a gear motor (101), in particular for a wiper system, comprising: a brushless DC electric motor (103) including: a rotor (15); a stator (13) having coils (17) for electromagnetically exciting the rotor (15); a device (25) for determining the angular position of the rotor (15) with respect to the stator (13); a control unit (21) configured to generate control signals for supplying power to the electromagnetic excitation coils (17) according to the angular position of the rotor (15) determined by the device (25) for determining the angular position of the rotor (15); a reduction gear mechanism (104) linked, on one side, to the rotor (15) of the electric motor (103) and, on the other side, to an output shaft (109) that is intended to be linked to an external mechanism, in particular a wiper system, the reduction gear mechanism (104) having a predefined reduction ratio, said device (25) for determining the angular position of the rotor (15) comprises at least one Hall effect sensor (27, 27a, 27b) associated with a control magnet (29, 29a, 29b) that rotates with the rotor (15) and the gear motor (101) also comprises a processing unit (26) connected to the device (25) for determining the angular position of the rotor (5) and configured to determine the angular position of the output shaft (109) on the basis of the angular position of the rotor (15) determined by taking the predefined reduction ratio of the reduction gear mechanism (104) into account.

To provide a motor drive control device, an electric power steering device, and a vehicle which can individually diagnose abnormalities of magnetic detection elements, designed in a multisystem configuration to include at least two systems, for each system. A motor drive control device includes two systems of first and second rotation information detection function units. The first and second rotation information detection function units include first and second rotation position information detection units and first and second rotation information detection units. The first and second rotation information detection units individually diagnose their own abnormalities based on first and second motor rotation position signals detected by the first and second rotation position information detection units.

According to the present invention, in position sensorless control for switching between a 120-degree energization scheme for a low-speed region and a 180-degree energization scheme for a mid-to-high-speed region, stable and highly accurate speed control characteristics are provided by suppressing speed deviation r in the low-speed region, and by preventing current jump-up caused by a discontinuous rotational speed occurring during switching to the mid-to-high-speed region. In the case of driving in the 120-degree energization scheme, a voltage command value is corrected such that an estimated speed value or a detected speed value follows a speed command.

A motor driving device includes an OPEN driving mode in which a driving waveform is generated without using detection information of a rotational position of a rotor and the rotor is rotated, and a CLOSE driving mode in which a phase of a rotational position and a phase of a driving waveform are synchronized using the detection information of the rotational position of the rotor, a desired phase difference is set between the rotational position and the driving waveform, and the rotor is rotated. The CPU controls rotation of the rotor using the OPEN driving mode, instructs a driving waveform generating circuit to set a phase difference for generating a torque in a reversing direction when rotation of the rotor is reversed, switches to the CLOSE driving mode, and then switches to the OPEN driving mode again when reversing has been completed.

A controller of a motor control device increases a voltage to be applied to a coil based on a control signal calculated from an estimated rotation speed, when the estimated rotation speed becomes equal to or lower than a predetermined rotation speed, increases the voltage to be applied to the coil based on a control signal calculated from an actual rotation speed, in a case where the actual rotation speed is lower than the predetermined rotation speed when the estimated rotation speed becomes higher than the predetermined rotation speed, and decreases the voltage to be applied to the coil based on a control signal calculated from the actual rotation speed, in a case where the actual rotation speed is higher than the predetermined rotation speed when the estimated rotation speed becomes higher than the predetermined rotation speed.