A vehicle has a brake device with a friction brake unit, an electrical brake unit and a brake control device. In order to provide a vehicle having a reliable and structurally simple brake device, the friction brake unit has brake components made of a composite material and the brake control device includes a monitoring device for monitoring a brake operation performed by the electrical brake unit.

A vehicle has a brake device with a friction brake unit, an electrical brake unit and a brake control device. In order to provide a vehicle having a reliable and structurally simple brake device, the friction brake unit has brake components made of a composite material and the brake control device includes a monitoring device for monitoring a brake operation performed by the electrical brake unit.

Provided is a motor controller including: a rotation control unit configured to control a rotation of a motor; a brake control unit configured to control an operation of a brake for holding a rotor with respect to a stator of the motor; a rotation-state detection unit configured to detect a rotation state of the motor; a timer configured to measure, in a released state where an operation of the brake is released by the brake control unit, a time from an outputting of a command to change over a state of the brake to a locked state to a detection of a predetermined change in a rotation state of the motor by the rotation-state detection unit; and a determination unit configured to determine that a brake operation delay abnormality is present when the time, measured by the timer, is equal to or more than a predetermined threshold.

When a main switch (82) is in an on-state, a controller (80) allows an electric motor (41) to drive a sliding door to open and close an opening, and when the main switch (82) is in an off-state and a half latch switch (66) is in an on-state, the controller (80) performs a braking control to allow the electric motor (41) to generate a braking force. When the main switch (82) is in the on-state, the sliding door can be opened and closed automatically. When the main switch (82) is in the off-state and the sliding door is closed manually, the improperly-closed state detecting switch is switched on before a full-latch state, the controller performs a braking control of the driving source. In this manner, damage to components caused by the inertial force of the driving source which results from an abrupt stop of the opening and closing unit can be certainly prevented without enhancing the rigidity of a casing, etc.

When a main switch (82) is in an on-state, a controller (80) allows an electric motor (41) to drive a sliding door to open and close an opening, and when the main switch (82) is in an off-state and a half latch switch (66) is in an on-state, the controller (80) performs a braking control to allow the electric motor (41) to generate a braking force. When the main switch (82) is in the on-state, the sliding door can be opened and closed automatically. When the main switch (82) is in the off-state and the sliding door is closed manually, the improperly-closed state detecting switch is switched on before a full-latch state, the controller performs a braking control of the driving source. In this manner, damage to components caused by the inertial force of the driving source which results from an abrupt stop of the opening and closing unit can be certainly prevented without enhancing the rigidity of a casing, etc.

The invention relates to a joint device, comprising an electric motor, an electrically controllable blocking apparatus), various control apparatuses, and a brake system, in the case of which brake system, in various alternatives, the brake system takes maximum energy from the system by means of active closed-loop/open-loop control or by triggering a (cycled) short circuit whenever possible and only triggers the mechanical blocking as a last resort in order to protect the mechanical and electrical system itself, but nevertheless ensures that the system is securely shut down after a maximum time.

There is provided a piling hammer comprising a linear electric machine comprising a mover connected to a ram block for striking a pile, a processor operatively connected to the linear electric machine and configured to determine a recoiled kinetic energy from striking the pile using a ram block connected to a mover of the linear electric machine, determining at least a portion of the determined recoiled kinetic energy for regenerative braking the of the mover to a peak position, control the linear electric machine to decelerate the mover to the peak position based on the determined at least a portion of the determined recoiled kinetic energy.

There is provided a piling hammer comprising a linear electric machine comprising a mover connected to a ram block for striking a pile, a processor operatively connected to the linear electric machine and configured to determine a recoiled kinetic energy from striking the pile using a ram block connected to a mover of the linear electric machine, determining at least a portion of the determined recoiled kinetic energy for regenerative braking the of the mover to a peak position, control the linear electric machine to decelerate the mover to the peak position based on the determined at least a portion of the determined recoiled kinetic energy.

The motor control system of the present invention includes a signal receiving unit for receiving a signal for operating a mechanical brake, a position monitoring unit for obtaining the history of the rotational position of the servo motor from the receipt of the signal to when the rotation of the servo motor stops using a position detector, a displacement amount calculation unit which calculates the rotational displacement of the servo motor from the receipt of the signal to when the rotation of the servo motor stops from the history, and an abnormality determining unit which determines that an abnormality exists in the mechanical brake when the calculated rotational displacement exceeds a predetermined first threshold value.

The motor control system of the present invention includes a signal receiving unit for receiving a signal for operating a mechanical brake, a position monitoring unit for obtaining the history of the rotational position of the servo motor from the receipt of the signal to when the rotation of the servo motor stops using a position detector, a displacement amount calculation unit which calculates the rotational displacement of the servo motor from the receipt of the signal to when the rotation of the servo motor stops from the history, and an abnormality determining unit which determines that an abnormality exists in the mechanical brake when the calculated rotational displacement exceeds a predetermined first threshold value.