An autonomous mobile device (AMD) includes an active braking circuit able to quickly stop the movement of the AMD. For example, the device may stop to avoid an obstacle, upon determining a failure of an internal component, upon receipt of a command, and so forth. Responsive to a signal to stop, an active braking circuit uses sensor data from a driving motor moving with a first rotation to actively commutate that motor to an opposite rotation, bringing the AMD quickly to a stop. In some implementations, the active braking circuit may include an independent power source and motor drivers and operate as a backup to a primary braking system.

An object of the invention is to provide a motor control device capable of realizing a redundancy while suppressing an increase in the number of parts and the number of connection signal lines.

The invention includes angle sensors 102 and 103 for detecting a rotation angle of a motor, MPU 107 for controlling the motor based on a stroke sensor 117 and receiving the detected value of the angle sensor 102, MPU 108 for controlling the motor based on the stroke sensor 117 and receiving the detected value of the angle sensor 103, and communication units 115 and 116 for transmitting and receiving signals between the MPUs 107 and 108. The MPU 107 includes an angle sensor failure detecting unit 114 for detecting a failure of the angle sensors 102 and 103, according to the detected value of the angle sensor 102, the detected value of the angle sensor 103 received through the communication unit 115, and a control angle of the motor created in response to the stroke sensor 117.

An object of the invention is to provide a motor control device capable of realizing a redundancy while suppressing an increase in the number of parts and the number of connection signal lines.

The invention includes angle sensors 102 and 103 for detecting a rotation angle of a motor, MPU 107 for controlling the motor based on a stroke sensor 117 and receiving the detected value of the angle sensor 102, MPU 108 for controlling the motor based on the stroke sensor 117 and receiving the detected value of the angle sensor 103, and communication units 115 and 116 for transmitting and receiving signals between the MPUs 107 and 108. The MPU 107 includes an angle sensor failure detecting unit 114 for detecting a failure of the angle sensors 102 and 103, according to the detected value of the angle sensor 102, the detected value of the angle sensor 103 received through the communication unit 115, and a control angle of the motor created in response to the stroke sensor 117.

A two-stage braking method for a brushless DC (BLDC) motor. The method includes control a switching array to drive the BLDC motor according to a commutation scheme to decrease a speed of the BLDC motor, allow the BLDC motor to coast, determine the speed of the BLDC motor, and actuate high side switches and/or low side switches to substantially stop rotational movement of the BLDC motor.

A two-stage braking method for a brushless DC (BLDC) motor. The method includes control a switching array to drive the BLDC motor according to a commutation scheme to decrease a speed of the BLDC motor, allow the BLDC motor to coast, determine the speed of the BLDC motor, and actuate high side switches and/or low side switches to substantially stop rotational movement of the BLDC motor.

A motor control device including a PWM control part is provided. The PWM control part has a two-phase complementary PWM control part, and when driving opening and closing of an opening/closing body, PWM-controls upper switching elements and lower switching elements of three phases in a three-phase inverter circuit based on an energization mode that sequentially switches among energized phases, which are two of the three phases, and a non-energized phase, which is a remaining one phase. The two-phase complementary PWM control part, in one of the energized phases, controls one of the upper switching element and the lower switching element by a PWM signal, and controls the other by a complementary PWM signal having a polarity opposite to the PWM signal, and, in the non-energized phase, controls one of the upper switching element and the lower switching element to be off, and controls the other by the complementary PWM signal.

A motor control device including a PWM control part is provided. The PWM control part has a two-phase complementary PWM control part, and when driving opening and closing of an opening/closing body, PWM-controls upper switching elements and lower switching elements of three phases in a three-phase inverter circuit based on an energization mode that sequentially switches among energized phases, which are two of the three phases, and a non-energized phase, which is a remaining one phase. The two-phase complementary PWM control part, in one of the energized phases, controls one of the upper switching element and the lower switching element by a PWM signal, and controls the other by a complementary PWM signal having a polarity opposite to the PWM signal, and, in the non-energized phase, controls one of the upper switching element and the lower switching element to be off, and controls the other by the complementary PWM signal.

A programmable thermal dissipation power (TDP) system with integrated circuits is provided. The programmable TDP system includes a software interface, a monitoring circuit, and a controller circuit. The monitoring circuit may provide for the instantaneous input power supplied to the system. The controller circuit may monitor both the target TDP information specified from upstream and the input power readings. The controller circuit may generate a pulse-width modulation (PWM) signal that corresponds to a gap between the two power levels and sends the signal to the integrated circuits on the system. The integrated circuit may respond to the change in the input PWM signal and may adjust its power consumption. For example, the integrated circuit may adjust the clock frequency, adjust the instruction rate, skip a number of clock cycles, etc.

A programmable thermal dissipation power (TDP) system with integrated circuits is provided. The programmable TDP system includes a software interface, a monitoring circuit, and a controller circuit. The monitoring circuit may provide for the instantaneous input power supplied to the system. The controller circuit may monitor both the target TDP information specified from upstream and the input power readings. The controller circuit may generate a pulse-width modulation (PWM) signal that corresponds to a gap between the two power levels and sends the signal to the integrated circuits on the system. The integrated circuit may respond to the change in the input PWM signal and may adjust its power consumption. For example, the integrated circuit may adjust the clock frequency, adjust the instruction rate, skip a number of clock cycles, etc.

A safety braking device for a machine tool for braking a processing tool driven by means of an electric motor via an output unit, more particularly an output shaft, includes at least one braking device which is provided to halt rotation of the output unit in a braking process. The braking device has at least a first braking stage and a second braking stage. The disclosure further relates to a machine tool having the safety braking device and to a method for operating a safety braking device.