A stator defines multiple stator poles with associated electrical windings. A rotor includes multiple rotor poles. The rotor is movable with respect to the stator and defines, together with the stator, a nominal gap between the stator poles and the rotor poles. The rotor poles includes a magnetically permeable pole material. The rotor also includes a series of frequency programmable flux channels (FPFCs). Each FPFC includes a conductive loop surrounding an associated rotor pole. The stator and the rotor are arranged such that the electrical windings in the stator induce an excitement current within at least one of the FPFCs during start-up.

A motor control device includes: a first duty ratio computation unit to compute a first duty ratio to be used for control of a motor body portion on the basis of a target rotational position of a rotor and a rotational position of the rotor; a second duty ratio computation unit to compute a second duty ratio corresponding to an upper limit of the absolute value of the first duty ratio on the basis of a linear function including a variable corresponding to the number of rotations of the rotor; and a control signal output unit to output a control signal corresponding to the first duty ratio when the absolute value of the first duty ratio is smaller than the absolute value of the second duty ratio, and to output a control signal corresponding to the second duty ratio when it is not.

A motor control device includes: a first duty ratio computation unit to compute a first duty ratio to be used for control of a motor body portion on the basis of a target rotational position of a rotor and a rotational position of the rotor; a second duty ratio computation unit to compute a second duty ratio corresponding to an upper limit of the absolute value of the first duty ratio on the basis of a linear function including a variable corresponding to the number of rotations of the rotor; and a control signal output unit to output a control signal corresponding to the first duty ratio when the absolute value of the first duty ratio is smaller than the absolute value of the second duty ratio, and to output a control signal corresponding to the second duty ratio when it is not.

A printed coil assembly including a flexible dielectric material, a patterned top conductive layer formed on a top surface of the flexible dielectric material, and a patterned bottom conductive layer formed on a bottom surface of the flexible dielectric material. The patterned top conductive layer and the patterned bottom conductive layer form a plurality of printed coils arranged in a plurality of printed coil rollers concentrically arranged in a cylindrical shape. Each of the plurality of printed coils includes a top layer printed coil disposed within the patterned top conductive layer and a bottom layer printed coil disposed within the patterned bottom conductive layer. Coil pitches of the coils within each roller are chosen such that corresponding ones of the plurality of printed coils in adjacent rollers are axially aligned relative to a center of the cylindrical shape.

A printed coil assembly including a flexible dielectric material, a patterned top conductive layer formed on a top surface of the flexible dielectric material, and a patterned bottom conductive layer formed on a bottom surface of the flexible dielectric material. The patterned top conductive layer and the patterned bottom conductive layer form a plurality of printed coils arranged in a plurality of printed coil rollers concentrically arranged in a cylindrical shape. Each of the plurality of printed coils includes a top layer printed coil disposed within the patterned top conductive layer and a bottom layer printed coil disposed within the patterned bottom conductive layer. Coil pitches of the coils within each roller are chosen such that corresponding ones of the plurality of printed coils in adjacent rollers are axially aligned relative to a center of the cylindrical shape.

The disclosure relates to an autonomous apparatus, moving and performing preset work in a defined working area, the autonomous apparatus including an energy module supplying energy to the autonomous apparatus, a motor, a sensor circuit, and a control circuit, the motor obtaining the energy from the energy module, to drive the autonomous apparatus to move and/or work in the working area, the sensor circuit detecting working parameters and environmental parameters of the autonomous apparatus, and transmitting detection results to the control circuit, the control circuit controlling the operation of the motor according to a signal transmitted by the sensor circuit, where the motor is a sensorless brushless motor, and before the motor rotates, the control circuit measures a resistance value of the motor, and estimates, one the basis of the resistance value of the motor, a rotor position of the motor, so as to control the operation of the motor.

A motor control device includes a motor that generates torque corresponding to a current for energizing multi-phase coils, a current sensor that detects a current value of the current for energizing the multi-phase coils, and a controller that obtains a current value of a current flowing through a predetermined coil by adding an origin learning value to a signal input from the current sensor and that controls a current for energizing the predetermined coil based on the current value. The motor control device obtains, each time the origin learning value is changed by a predetermined value, an amplitude of a predetermined order in a q-axis current of the motor based on the changed origin learning value and the signal input from the current sensor, and performs correction based on the origin learning value at the time when the amplitude switches from a decreasing tendency to an increasing tendency.

A motor control device includes a motor that generates torque corresponding to a current for energizing multi-phase coils, a current sensor that detects a current value of the current for energizing the multi-phase coils, and a controller that obtains a current value of a current flowing through a predetermined coil by adding an origin learning value to a signal input from the current sensor and that controls a current for energizing the predetermined coil based on the current value. The motor control device obtains, each time the origin learning value is changed by a predetermined value, an amplitude of a predetermined order in a q-axis current of the motor based on the changed origin learning value and the signal input from the current sensor, and performs correction based on the origin learning value at the time when the amplitude switches from a decreasing tendency to an increasing tendency.

A control apparatus for a motor includes an electronic control unit. The electronic control unit includes a first controller, a second controller, a third controller, and a fourth controller. The first controller is configured to, through execution of feedback control, compute a feedback control torque to be generated by the motor. The second controller is configured to compute a disturbance torque based on the feedback control torque and a predetermined angle. The third controller is configured to correct the feedback control torque by using the disturbance torque. The fourth controller is configured to compensate a transfer lag to the second controller between the feedback control torque and the predetermined angle.

Apparatus and associated methods relate to active damping of mechanical oscillations of a synchronous generator's drivetrain by modulating an excitation signal provided to the synchronous generator in proper phase relation with detected mechanical oscillations so as to dampen these oscillations. The excitation signal includes a superposition of a voltage-regulation signal and an active-damping signal. The voltage-regulation signal is configured to regulate an output voltage of electrical power provided by the synchronous generator, and the active-damping signal is configured to provide active damping to the drivetrain of the mechanical system that includes the synchronous generator. The active-damping signal is generated by detecting mechanical oscillations of the drivetrain, filter such detected mechanical oscillations such that the active-damping signal has a proper phase relationship with the mechanical oscillations over a predetermined range of frequencies. This proper phase relationship is maintained over the range of frequencies using a second order lag/lead filter.