A drive device includes a first motor, a second motor, and circuitry. The first motor includes a first rotation detector and is configured to rotate a driven shaft to apply a driving torque to the driven shaft. The second motor includes a second rotation detector and is configured to rotate the driven shaft to reduce backlash between the first motor and the driven shaft. The circuitry is configured to control the first motor and the second motor, based on a detection signal of the second rotation detector.

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 synchronization control system includes: a first slave station; a second slave station; and a master station, wherein the master station includes: a first command data generating unit that generates the first command data; a feedback data filter that extracts and outputs a frequency component in a first frequency domain from feedback data; a command data filter that extracts and outputs a frequency component in a second frequency domain higher than the first frequency domain from the first command data; an adding unit that adds data output from the feedback data filter and data output from the command data filter, and outputs addition data that is a result of the addition; and a second command data generating unit that generates the second command data on the basis of the addition data.

A synchronization control system includes: a first slave station; a second slave station; and a master station, wherein the master station includes: a first command data generating unit that generates the first command data; a feedback data filter that extracts and outputs a frequency component in a first frequency domain from feedback data; a command data filter that extracts and outputs a frequency component in a second frequency domain higher than the first frequency domain from the first command data; an adding unit that adds data output from the feedback data filter and data output from the command data filter, and outputs addition data that is a result of the addition; and a second command data generating unit that generates the second command data on the basis of the addition data.

A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

A control device (2) for controlling power supply to a continuous-rotation motor, of the horological, DC type, is arranged to generate electrical pulses with a lower supply voltage to drive the rotor. The number of pulses per time interval is a function of the load applied to the motor. A voltage divider is arranged to supply the lower supply voltage with a plurality of different values and thus the electrical pulses with a variable voltage. A logic circuit counts the numbers of electrical pulses in successive time periods; to periodically select a voltage value, from among a plurality of different values, as a function of a counted number of electrical pulses or of a succession of counted numbers of electrical pulses; and to control the voltage divider so that the latter supplies the lower supply voltage with the selected voltage value after the selection of this voltage value.

A control device (2) for controlling power supply to a continuous-rotation motor, of the horological, DC type, is arranged to generate electrical pulses with a lower supply voltage to drive the rotor. The number of pulses per time interval is a function of the load applied to the motor. A voltage divider is arranged to supply the lower supply voltage with a plurality of different values and thus the electrical pulses with a variable voltage. A logic circuit counts the numbers of electrical pulses in successive time periods; to periodically select a voltage value, from among a plurality of different values, as a function of a counted number of electrical pulses or of a succession of counted numbers of electrical pulses; and to control the voltage divider so that the latter supplies the lower supply voltage with the selected voltage value after the selection of this voltage value.

A synchronization control system includes: a first slave station; a second slave station; and a master station wherein the master station includes: a first command data generating unit that generates the first command data; a feedback data filter that extracts and outputs a frequency component in a first frequency domain from feedback data; a command data filter that extracts and outputs a frequency component in a second frequency domain higher than the first frequency domain from the first command data; an adding unit that adds data output from the feedback data filter and data output from the command data filter, and outputs addition data that is a result of the addition; and a second command data generating unit that generates the second command data on the basis of the addition data.

A synchronization control system includes: a first slave station; a second slave station; and a master station wherein the master station includes: a first command data generating unit that generates the first command data; a feedback data filter that extracts and outputs a frequency component in a first frequency domain from feedback data; a command data filter that extracts and outputs a frequency component in a second frequency domain higher than the first frequency domain from the first command data; an adding unit that adds data output from the feedback data filter and data output from the command data filter, and outputs addition data that is a result of the addition; and a second command data generating unit that generates the second command data on the basis of the addition data.

The method for controlling a maneuvering device (2) to maneuver a screen (3) of an occulting home-automation system (1) between at least a first position and a second position comprises: a first actuator (5) equipped with a first electric motor (9), a torque detection device (19) and a position management module (27), a second actuator (6) equipped with a second electric motor (12), a torque detection device (26) and a position management module (28), and a winding shaft (7). The actuator and the second actuator are configured to drive the winding shaft. The method includes designating the first actuator as master actuator and of the second actuator as slave actuator.