A motor drive system includes a converter configured to convert power between AC power in a power source and DC power in a DC link, an inverter for drive configured to convert power between the DC power and AC power in a servomotor for drive, a motor control unit for drive configured to control the servomotor for drive, a power storage device configured to store the DC power from the DC link or supplies the DC power to the DC link, and a determination unit configured to determine whether the holding energy of the power storage device is lower than a threshold for energy shortage determination, wherein when the holding energy is lower than the threshold for energy shortage determination, the motor control unit for drive controls the servomotor for drive by setting an additional standby period in which the servomotor for drive is inactive in a predetermined operation pattern.

A motor drive system includes a converter configured to convert power between AC power in a power source and DC power in a DC link, an inverter for drive configured to convert power between the DC power and AC power in a servomotor for drive, a motor control unit for drive configured to control the servomotor for drive, a power storage device configured to store the DC power from the DC link or supplies the DC power to the DC link, and a determination unit configured to determine whether the holding energy of the power storage device is lower than a threshold for energy shortage determination, wherein when the holding energy is lower than the threshold for energy shortage determination, the motor control unit for drive controls the servomotor for drive by setting an additional standby period in which the servomotor for drive is inactive in a predetermined operation pattern.

An actuator driving device includes: first and second half bridge circuits driven according to modulated drive signals having an inverted relationship, generates a drive voltage for an actuator by switching a DC voltage, and outputs the drive voltage to the actuator; a current detection resistor which generates a current detection signal corresponding to current flowing through a series circuit including first and second switching elements and a series circuit including third and fourth switching elements; a hold circuit which holds the current detection signal from the current detection resistor and generates an output signal; a comparator which compares the output signal with a target amplitude signal to generate a comparison result signal; a multiplier which multiplies the comparison result signal and the drive signal to generate a multiplication result signal; and a PWM modulator which performs PWM modulation according to the multiplication result signal to generate a modulated drive signal.

An actuator driving device includes: first and second half bridge circuits driven according to modulated drive signals having an inverted relationship, generates a drive voltage for an actuator by switching a DC voltage, and outputs the drive voltage to the actuator; a current detection resistor which generates a current detection signal corresponding to current flowing through a series circuit including first and second switching elements and a series circuit including third and fourth switching elements; a hold circuit which holds the current detection signal from the current detection resistor and generates an output signal; a comparator which compares the output signal with a target amplitude signal to generate a comparison result signal; a multiplier which multiplies the comparison result signal and the drive signal to generate a multiplication result signal; and a PWM modulator which performs PWM modulation according to the multiplication result signal to generate a modulated drive signal.

A dynamic energy harvesting and variable harvesting force system is disclosed. A boost converter increases a motor voltage as a motor current associated with the motor voltage propagates through the boost converter thereby generating a boost voltage associated with the changing motor current. A power storage device stores energy harvested by the boost converter when the boost voltage exceeds an energy storage threshold. A controller dynamically adjusts a harvesting force applied by the motor so that the harvesting force is relative to the force applied to the motor. The controller also dynamically adjusts the harvested energy stored by the power storage device by adjusting the charging of the power storage device, ensuring that the boost voltage threshold is maintained. The boost voltage when maintained within the boost voltage threshold enables the power storage device to store the harvested energy without impacting the harvesting force applied by the motor.

A dynamic energy harvesting and variable harvesting force system is disclosed. A boost converter increases a motor voltage as a motor current associated with the motor voltage propagates through the boost converter thereby generating a boost voltage associated with the changing motor current. A power storage device stores energy harvested by the boost converter when the boost voltage exceeds an energy storage threshold. A controller dynamically adjusts a harvesting force applied by the motor so that the harvesting force is relative to the force applied to the motor. The controller also dynamically adjusts the harvested energy stored by the power storage device by adjusting the charging of the power storage device, ensuring that the boost voltage threshold is maintained. The boost voltage when maintained within the boost voltage threshold enables the power storage device to store the harvested energy without impacting the harvesting force applied by the motor.

Technical solutions are described for generating an output torque from a multi-winding PMDC motor. An example method includes generating, by a current controller, a first voltage command for a first winding set from a plurality of winding sets of the PMDC motor, the first winding set generates a first current in response to the first voltage command. The method further includes generating, by the current controller, a second voltage command for the second winding set from the winding sets of the PMDC motor, the second winding set generates a second current in response to the second voltage command. The method further includes generating, by the PMDC motor, the output torque based on the first current and the second current.

Technical solutions are described for generating an output torque from a multi-winding PMDC motor. An example method includes generating, by a current controller, a first voltage command for a first winding set from a plurality of winding sets of the PMDC motor, the first winding set generates a first current in response to the first voltage command. The method further includes generating, by the current controller, a second voltage command for the second winding set from the winding sets of the PMDC motor, the second winding set generates a second current in response to the second voltage command. The method further includes generating, by the PMDC motor, the output torque based on the first current and the second current.

An actuator driving device includes: first and second half bridge circuits driven according to modulated drive signals having an inverted relationship, generates a drive voltage for an actuator by switching a DC voltage, and outputs the drive voltage to the actuator; a current detection resistor which generates a current detection signal corresponding to current flowing through a series circuit including first and second switching elements and a series circuit including third and fourth switching elements; a hold circuit which holds the current detection signal from the current detection resistor and generates an output signal; a comparator which compares the output signal with a target amplitude signal to generate a comparison result signal; a multiplier which multiplies the comparison result signal and the drive signal to generate a multiplication result signal; and a PWM modulator which performs PWM modulation according to the multiplication result signal to generate a modulated drive signal.

An actuator driving device includes: first and second half bridge circuits driven according to modulated drive signals having an inverted relationship, generates a drive voltage for an actuator by switching a DC voltage, and outputs the drive voltage to the actuator; a current detection resistor which generates a current detection signal corresponding to current flowing through a series circuit including first and second switching elements and a series circuit including third and fourth switching elements; a hold circuit which holds the current detection signal from the current detection resistor and generates an output signal; a comparator which compares the output signal with a target amplitude signal to generate a comparison result signal; a multiplier which multiplies the comparison result signal and the drive signal to generate a multiplication result signal; and a PWM modulator which performs PWM modulation according to the multiplication result signal to generate a modulated drive signal.