A numerical controller, which is configured to correct a machine position error based on a torque difference between a master axis and a slave axis, acquires the torque difference after movement of the master and slave axes that move in response to a movement command, and corrects the machine position error by a correction amount based on a value obtained by excluding a torque difference derived from a mechanical strain from the acquired torque difference. The corrected machine position error is added to the movement command for next time.

A controller module includes an enclosure including an inner wall defining a volume, a plurality of motor controllers, each motor controller comprising a printed circuit board (PCB) having a first side and a second side opposite the first side, a plurality of transistors located on the first side, and a plurality of outputs located on the second side. The first side of the PCB is positioned adjacent to the inner wall of the enclosure to allow heat generated by the motor controller to dissipate via the enclosure.

A controller module includes an enclosure including an inner wall defining a volume, a plurality of motor controllers, each motor controller comprising a printed circuit board (PCB) having a first side and a second side opposite the first side, a plurality of transistors located on the first side, and a plurality of outputs located on the second side. The first side of the PCB is positioned adjacent to the inner wall of the enclosure to allow heat generated by the motor controller to dissipate via the enclosure.

The control method for an electric vehicle sets a motor torque command value based on vehicle information and controls torque of a first motor connected to a first drive wheel which is one of a front drive wheel and a rear drive wheel. The control method for an electric vehicle calculates a first torque command value by a feedforward computation based on the motor torque command value, detects a rotation angular velocity of the first motor, and estimates a rotation angular velocity of the first motor based on the first torque command value by using a vehicle model Gp(s) that simulates a transfer characteristic from a torque input to the first drive wheel to a rotation angular velocity of the first motor.

The control method for an electric vehicle sets a motor torque command value based on vehicle information and controls torque of a first motor connected to a first drive wheel which is one of a front drive wheel and a rear drive wheel. The control method for an electric vehicle calculates a first torque command value by a feedforward computation based on the motor torque command value, detects a rotation angular velocity of the first motor, and estimates a rotation angular velocity of the first motor based on the first torque command value by using a vehicle model Gp(s) that simulates a transfer characteristic from a torque input to the first drive wheel to a rotation angular velocity of the first motor.

An outdoor power equipment includes multiple motors and a controller module. The motors include a first motor and a second motor. The first motor is structured to operate a first component of the outdoor power equipment and the second motor is structured to operate a second component of the outdoor power equipment. The controller module includes multiple motor controllers structured to communicate via a network communication bus with each other and operate the first motor and the second motor to operate the first component and the second component based on the communication via the network communication bus.

An outdoor power equipment includes multiple motors and a controller module. The motors include a first motor and a second motor. The first motor is structured to operate a first component of the outdoor power equipment and the second motor is structured to operate a second component of the outdoor power equipment. The controller module includes multiple motor controllers structured to communicate via a network communication bus with each other and operate the first motor and the second motor to operate the first component and the second component based on the communication via the network communication bus.

A force control method and system for multi-motor synchronization is provided. The force control method includes: acquiring a total desired force of a plurality of motors; calculating the desired force of each of the plurality of motors according to a characteristic of each of the plurality of motors; setting an external feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking a synchronization error of each of the plurality of motors as a feedback item of the external feedback loop; and setting an internal feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking an output force error of each of the plurality of motors as a feedback item of the internal feedback loop. The force control method and system ensures multi-motor synchronization under the premise of accurate force control.

A takeoff location and a landing location are received for an autonomous vertical takeoff and landing (VTOL) vehicle that includes a plurality of rotors. An autonomous and noise-reduced flight trajectory for the autonomous VTOL vehicle is determined based at least in part on the takeoff location, the landing location, a jerk function, and a noise function, including by minimizing the jerk function and minimizing the noise function. A set of one or more desired forces or moments is determined for the autonomous VTOL vehicle based at least in part on autonomous and noise-reduced flight trajectory. A plurality of motor control signals is determined for the plurality of rotors based at least in part on the set of one or more desired forces or moments.

A numerical controller, which is configured to correct a machine position error based on a torque difference between a master axis and a slave axis, acquires the torque difference after movement of the master and slave axes that move in response to a movement command, and corrects the machine position error by a correction amount based on a value obtained by excluding a torque difference derived from a mechanical strain from the acquired torque difference. The corrected machine position error is added to the movement command for next time.