A motor controller includes current measurement circuitry and estimation circuitry. The current measurement circuitry is adapted to be coupled to a motor, and configured to measure current in the motor. The estimation circuitry is coupled to the current measurement circuitry, and includes a memory, current computation circuitry, and summation circuitry. The memory stores coefficients of a function for estimating current related to variation of inductance of the motor. The current computation circuitry is coupled to the memory, and is configured to compute a compensation current value based on the coefficients. The summation circuitry is coupled to the current compensation circuitry, and is configured to generate a position error signal by subtracting the compensation current value from a measured current value generated by the current measurement circuitry.

A motor control apparatus is an apparatus that controls a motor that drives a machine apparatus that moves a subject to be moved, and includes a resolution conversion unit that converts, on the basis of a ratio of resolution of a first detector that detects a position of an object and resolution of a second detector that detects a position of the object, a detection signal that indicates the position of the object that is detected by the second detector to a signal of the resolution of the first detector. The motor control apparatus further includes a current control unit that controls a voltage to be applied to the motor on the basis of a command signal that specifies a destination position of the subject to be moved and the signal obtained by the conversion performed by the resolution conversion unit on the detection signal.

An electric vehicle propulsion control device includes a power converter that applies an alternating-current voltage to an induction machine and a controller that controls the power converter based on an external operation command. The controller includes a first calculation unit. The first calculation unit calculates, from current information (id and iq) detected at the induction machine and current command values (id*1 and iq*1) that are based on the operation command, a d-axis voltage command (Vd*1) and a q-axis voltage command (Vq*1) for the power converter, and a primary magnetic flux ds and a secondary magnetic flux dr of the induction machine. The first calculation unit also adds to or subtracts from a term including the q-axis voltage command (Vq*1) an interference term stemming from the d-axis voltage command (Vd*1) in calculating a first speed 1 that is a free-run speed of the induction machine.

A method of starting a permanent magnet synchronous motor (PMSM) with field oriented control (FOC) includes: opening a first control loop of the PMSM; setting a first direction for a first current component of the PMSM; aligning a rotor of the PMSM to the first direction; after aligning the rotor, setting a second direction for the first current component, where the second direction is rotated from the first direction by 90 degrees; after setting the second direction, starting the rotor while the first control loop of the PMSM remains open; after starting the rotor, increasing a rotation speed of the rotor by operating the first control loop in a first closed-loop mode; and after increasing the rotation speed of the rotor, controlling the rotation speed of the rotor by operating the first control loop in a second closed-loop mode different from the first closed-loop mode.

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.

The invention discloses a driving method for single-phase DC brushless motor using sensor only in start-up, comprising: power-up to activate a motor control circuit of a motor; confirming whether the motor is in a rotating state before activation of an excitation? If not, executing a static start-up procedure of using a sensor to detect magnetic poles of the rotor; calculating slope of the BEMF signal to determine the rotation direction of the motor; determining whether the rotation direction of the motor conforming to a predetermined direction; if yes, executing a normal driving procedure; otherwise, executing the static start-up procedure of using a sensor to detect magnetic poles of the rotor. The invention utilizes the present invention utilizes an asymmetric magnetic field caused by a mechanism between a rotor and a stator of a motor to induce a back electromotive force signal and a sensor detection to control rotation direction.

A motor control apparatus is an apparatus that controls a motor that drives a machine apparatus that moves a subject to be moved, and includes a resolution conversion unit that converts, on the basis of a ratio of resolution of a first detector that detects a position of an object and resolution of a second detector that detects a position of the object, a detection signal that indicates the position of the object that is detected by the second detector to a signal of the resolution of the first detector. The motor control apparatus further includes a current control unit that controls a voltage to be applied to the motor on the basis of a command signal that specifies a destination position of the subject to be moved and the signal obtained by the conversion performed by the resolution conversion unit on the detection signal.

A rotation angle correction device corrects a rotation angle of a converter converting a signal from a resolver attached to a motor. An arrival time measurement unit measures an arrival time at which the rotation angle reaches a specified rotation angle from a reference angle in a current cycle. A reference time calculation unit calculates a reference time at which the rotation angle reaches the specified rotation angle from the reference angle assuming that the motor rotates in the current cycle at the same angular velocity as an angular velocity in a previous cycle. A difference calculation unit calculates a difference between the arrival time and the reference time. An error angle calculation unit multiplies the difference between the arrival time and the reference time and the angular velocity in the previous cycle to obtain an error angle. A correction unit corrects the rotation angle based on the error 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 motor module includes a motor including a commutator, and an apparatus that is attached to the motor and obtains information on rotation of the motor. The apparatus includes a rotation angle calculator that calculates a rotation angle of the motor based on a voltage between terminals of the motor and an electric current flowing through the motor, a first signal generator that generates a first signal based on a ripple component included in the electric current flowing through the motor, a second signal generator that generates a second signal indicating that the motor has rotated by a predetermined angle based on the first signal and the rotation angle, and a rotation information calculator that calculates the information on the rotation of the motor based on an output from the second signal generator.