A working machine feed axis control device: disposes a velocity feedback loop and forms a cascade coupling on the inner side of a location feedback loop; comprises a velocity gain setting apparatus (30) which multiplies the output of the velocity feedback look by a first gain (kv), and a location gain setting apparatus (31) which multiplies the output of the location feedback loop by a second gain (kp); subtracts the output of the velocity gain setting apparatus (30) and the output of the location gain setting apparatus (31) from a torque instruction (τ); and outputs the remaining torque instruction (τ) to a subject to be controlled (27).

Provided is a machine learning device configured to perform machine learning related to optimization of a compensation value of a compensation generation unit with respect to a servo control device configured to control a servo motor configured to drive an axis of a machine tool, a robot, or an industrial machine, and that includes at least one feedback loop, a compensation generation unit configured to generate a compensation value to be applied to the feedback loop, and an abnormality detection unit configured to detect an abnormal operation of the servo motor, wherein, during a machine learning operation, when the abnormality detection unit detects an abnormality, the compensation from the compensation generation unit is stopped and the machine learning device continues optimization of the compensation value generated by the compensation generation unit.

Method for control of the torque performance of an electric pitch motor (1). A control system (2) comprises a first unit (3) controlling the pitch angle of the rotor blade, a second unit (7) which compares a reference speed Sr with an actual speed Sa of the motor (1) rotational speed. The second unit (7) controls the motor (1) rotational speed, a third unit (10) which regulates the motor (1). The control system (2) comprises a first overload device (13) and a second overload device (14). The second overload device (14) receives an error-speed signal Se, which is the difference between Sr and Sa recorded by the second unit (7). The second overload unit (14) compares See with a maximum allowable speed value, Smax, and the second overload device (14) sends a signal to the motor (1) for the regulation of the torque performance.

Provided is a machine learning device configured to perform machine learning related to optimization of a compensation value of a compensation generation unit with respect to a servo control device configured to control a servo motor configured to drive an axis of a machine tool, a robot, or an industrial machine, and that includes at least one feedback loop, a compensation generation unit configured to generate a compensation value to be applied to the feedback loop, and an abnormality detection unit configured to detect an abnormal operation of the servo motor, wherein, during a machine learning operation, when the abnormality detection unit detects an abnormality, the compensation from the compensation generation unit is stopped and the machine learning device continues optimization of the compensation value generated by the compensation generation unit.

A controller that performs, for one or more axes of a machine, position control by taking friction into consideration includes a data acquisition unit acquiring at least a position command and a position feedback and a compensation torque estimation unit estimating coefficients of a friction model used when the position control is performed, on the basis of a position deviation which is a difference between the position command and the position feedback.

A smart loader apparatus for a trunk lid hinge includes a hinge alignment jig at which a trunk lid hinge is aligned and disposed at a predetermined position, a smart loader of which a transfer gripper for gripping the trunk lid hinge aligned at the hinge alignment jig is disposed at a front end portion, and the smart loader includes an articulated arm for transferring the trunk lid hinge gripped by the transfer gripper to a predetermined position of a vehicle body, a driving portion that drives the transfer gripper and the articulated arm to change a position of the transfer gripper, a force and torque (FT) sensor installed at a portion at which the articulated arm and the transfer gripper are connected, and a controller that controls the driving portion to move the transfer gripper in the direction of the force sensed by the FT sensor.

Method for control of the torque performance of an electric pitch motor (1). A control system (2) comprises a first unit (3) controlling the pitch angle of the rotor blade, a second unit (7) which compares a reference speed Sr with an actual speed Sa of the motor (1) rotational speed. The second unit (7) controls the motor (1) rotational speed, a third unit (10) which regulates the motor (1). The control system (2) comprises a first overload device (13) and a second overload device (14). The second overload device (14) receives an error-speed signal Se, which is the difference between Sr and Sa recorded by the second unit (7). The second overload unit (14) compares See with a maximum allowable speed value, Smax, and the second overload device (14) sends a signal to the motor (1) for the regulation of the torque performance.

Systems and apparatus relating to motor control (e.g., for thermal transfer printing) include, according to at least one implementation, a motor control system including: a position controller to receive a demanded position (P.sub.D) input for controlling a motor; a torque controller coupled with the position controller, the torque controller to receive a torque bias (T.sub.B) input for controlling the motor; and a feedback circuit coupled with the torque controller and the position controller; wherein the feedback circuit is configured and arranged to combine an output from the position controller, the output being generated based on the demanded position (P.sub.D) input, with the torque bias (T.sub.B) input to generate a torque demand (T.sub.D) input to the torque controller.

A smart loader apparatus for a trunk lid hinge includes a hinge alignment jig at which a trunk lid hinge is aligned and disposed at a predetermined position, a smart loader of which a transfer gripper for gripping the trunk lid hinge aligned at the hinge alignment jig is disposed at a front end portion, and the smart loader includes an articulated arm for transferring the trunk lid hinge gripped by the transfer gripper to a predetermined position of a vehicle body, a driving portion that drives the transfer gripper and the articulated arm to change a position of the transfer gripper, a force and torque (FT) sensor installed at a portion at which the articulated arm and the transfer gripper are connected, and a controller that controls the driving portion to move the transfer gripper in the direction of the force sensed by the FT sensor.