Disclosed herein are reluctance actuators and methods for feedback control of their applied force. Embodiments of the reluctance actuators include an electromagnet positioned to deflect a metallic plate to provide a haptic output. The control of the force is provided without force sensors (sensorless control) by monitoring voltage and/or current (V/I) applied during an actuation. For a given intended force output, an electrical parameter value (flux, current, or other parameter) is read from a look up table (LUT). The LUT may store a present value of the inductance of the reluctance actuator. The feedback control may be a quasi-static control in which the LUT is updated after actuation based on the monitored V/I. The feedback control may be real-time, with a controller comparing an estimated electrical parameter value based on the measured V/I with the value from the LUT.

Disclosed herein are reluctance actuators and methods for feedback control of their applied force. Embodiments of the reluctance actuators include an electromagnet positioned to deflect a metallic plate to provide a haptic output. The control of the force is provided without force sensors (sensorless control) by monitoring voltage and/or current (V/I) applied during an actuation. For a given intended force output, an electrical parameter value (flux, current, or other parameter) is read from a look up table (LUT). The LUT may store a present value of the inductance of the reluctance actuator. The feedback control may be a quasi-static control in which the LUT is updated after actuation based on the monitored V/I. The feedback control may be real-time, with a controller comparing an estimated electrical parameter value based on the measured V/I with the value from the LUT.

A motor control device includes: a second setting unit configured to set an armature current command value and a current phase angle command value based on a rotation speed and a motor torque command value; and a current vector setting unit configured to set a d-axis current command value and a q-axis current command value based on the armature current command value and the current phase angle command value. The second setting unit is configured to set the armature current command value and the current phase angle command value such that an armature current vector which is set based on the d-axis current command value and the q-axis current command value is included in an area surrounded by an armature current vector locus in maximum torque/current control and a vertical axis in a d-q coordinate system.

A motor control device includes: a second setting unit configured to set an armature current command value and a current phase angle command value based on a rotation speed and a motor torque command value; and a current vector setting unit configured to set a d-axis current command value and a q-axis current command value based on the armature current command value and the current phase angle command value. The second setting unit is configured to set the armature current command value and the current phase angle command value such that an armature current vector which is set based on the d-axis current command value and the q-axis current command value is included in an area surrounded by an armature current vector locus in maximum torque/current control and a vertical axis in a d-q coordinate system.

Among eight teeth pairs, one teeth pair is a non-use teeth pair around which an exciting coil is not wound, and other seven teeth pairs are use teeth pairs around which the exciting coil is wound zero or more times. The number Wa of windings of the exciting coil wound around the tooth included in the use teeth pair in a 90° positional relationship with respect to the non-use teeth pair and the number Wb of windings of the exciting coil wound around the tooth included in the use teeth pair in a positional relationship other than the 90° positional relationship with respect to the non-use teeth pair satisfy a relationship of 0≤Wa≤0.5Wb. The number Wa of windings and the number Wb of windings may satisfy a relationship of 0<Wa≤0.5Wb.

Among eight teeth pairs, one teeth pair is a non-use teeth pair around which an exciting coil is not wound, and other seven teeth pairs are use teeth pairs around which the exciting coil is wound zero or more times. The number Wa of windings of the exciting coil wound around the tooth included in the use teeth pair in a 90° positional relationship with respect to the non-use teeth pair and the number Wb of windings of the exciting coil wound around the tooth included in the use teeth pair in a positional relationship other than the 90° positional relationship with respect to the non-use teeth pair satisfy a relationship of 0≤Wa≤0.5Wb. The number Wa of windings and the number Wb of windings may satisfy a relationship of 0<Wa≤0.5Wb.

A motor is provided with stator windings arranged on a circumference of stator. Multiple-phase currents are supplied to the stator windings. A current is supplied to rotor windings. The multiple-phase currents include torque current components, which are arranged to be opposite in directions to torque current components of the current. By this mutually opposite-directional current arrangement, a sum of both torque current components results in a magnetomotive force of zero. It is also possible to reduce influence of the torque current components on the field magnetic fluxes of the motor. In the motor, circumferential magnetic flux components can be concentrated on an airgap and a portion near therearound, so that a larger amount of torque can be obtained, and constant output control can be performed more easily.

A motor is provided with stator windings arranged on a circumference of stator. Multiple-phase currents are supplied to the stator windings. A current is supplied to rotor windings. The multiple-phase currents include torque current components, which are arranged to be opposite in directions to torque current components of the current. By this mutually opposite-directional current arrangement, a sum of both torque current components results in a magnetomotive force of zero. It is also possible to reduce influence of the torque current components on the field magnetic fluxes of the motor. In the motor, circumferential magnetic flux components can be concentrated on an airgap and a portion near therearound, so that a larger amount of torque can be obtained, and constant output control can be performed more easily.

A motor has stator windings arranged on a circumference of a stator, a rotor with rotor magnetic poles provided by N- and S-poles, and rotor windings arranged in a circumferential direction of the rotor magnetic poles. Multiple-phase currents are supplied to the stator windings. A current is supplied to rotor windings. The multiple-phase currents include torque current components, which are arranged to be opposite in directions to torque current components of the current. By this mutually opposite-directional current arrangement, a magnetomotive force based on a sum of both torque current components becomes a local minimum. It is possible to reduce influence of the torque current components on the field magnetic fluxes of the motor. In the motor, circumferential magnetic flux components can be collected to an airgap and a portion therearound, so that a larger amount of torque can be obtained, and constant output control can be performed more easily.

A motor has stator windings arranged on a circumference of a stator, a rotor with rotor magnetic poles provided by N- and S-poles, and rotor windings arranged in a circumferential direction of the rotor magnetic poles. Multiple-phase currents are supplied to the stator windings. A current is supplied to rotor windings. The multiple-phase currents include torque current components, which are arranged to be opposite in directions to torque current components of the current. By this mutually opposite-directional current arrangement, a magnetomotive force based on a sum of both torque current components becomes a local minimum. It is possible to reduce influence of the torque current components on the field magnetic fluxes of the motor. In the motor, circumferential magnetic flux components can be collected to an airgap and a portion therearound, so that a larger amount of torque can be obtained, and constant output control can be performed more easily.