An external force estimation device is configured to estimate an external force acting on a motor. The external force estimation device includes a processor. The processor is configured to: calculate an output torque of the motor by using a value of a current supplied to the motor; estimate an inertia torque of the motor by using rotational position information of the motor; estimate a first friction torque of the motor by using the rotational position information of the motor; perform temperature-based correction for the first friction torque by using temperature information of the motor; and estimate the external force by subtracting the inertia torque and the first friction torque after the temperature-based correction from the output torque.

System, apparatus, and methods for controlling a motor by using servo-to-edge direction feedback are disclosed. An exemplary apparatus comprises: a fiber optic rotary junction (FORJ) having a rotatable portion; a motor to rotate the rotatable portion; a connector to connect the rotatable portion to a rotatable fiber of an imaging probe; a sensor positioned in close proximity to a target and configured to output a signal indicative of which one of at least two distinguishable regions of the target is proximal to the sensor; and a controller configured to control the rotational direction of the motor based on the sensor signal. In one embodiment, the motor is a servo-motor, and the rotation of the motor and/or rotatable portion is controlled by a servo-loop to change the rotation direction of the motor back-and-forth around a predetermined rotational position without the use of an encoder.

A reagent bottle cleaning device is provided, comprising a base, a cleaning assembly, and a cleaning block. The cleaning assembly comprises a pushing cylinder and a mounting plate. A plurality of mounting grooves are disposed on the mounting plate. Each mounting groove is provided with a cleaning motor. The cleaning motor is provided with a cleaning screw rod. The cleaning block is provided with cleaning grooves corresponding to the cleaning screw rods. Injecting pumps are disposed between the cleaning block and the cleaning assembly. The injecting pumps are connected to the base by lifting cylinders. Full-automatic quick cleaning of reagent bottles can be realized under the effect of a main control chip.

A method for controlling switched reluctance machine (SRM) utilizing a SRM control system. The method allows for adaptive pulse positioning over a wide range of speeds and loads. An initial rotor position is provided for the SRM utilizing an initialization mechanism. A pinned point on a phase current waveform is defined during an initial current rise phase of the current waveform. A slope of the current rise is determined as the current waveform reaches the pinned point. The slope is then fed to the commutation module of the SRM control system. An error signal from calculated inductance or current slope is used as an input to a control loop in the SRM control system. The time determining module determines an optimum time signal to fire a next pulse. The optimum time signal is fed to the SRM for turning the plurality of SRM switches to on and off states.

A method for determining a rotor position of an electric motor (2) of a power tool (10), in particular an electric screwdriving tool, including the steps of: checking (S4) whether a first electric motor current (I1) is below a threshold value (SW), and in response to the check indicating that the first electric motor current (I1) is below the threshold value (SW), determining a rotor position of the electric motor (2) based on the first electric motor current (I1) and/or a second electric motor current.

A method for controlling switched reluctance machine (SRM) utilizing a SRM control system. The method allows for adaptive pulse positioning over a wide range of speeds and loads. An initial rotor position is provided for the SRM utilizing an initialization mechanism. A pinned point on a phase current waveform is defined during an initial current rise phase of the current waveform. A slope of the current rise is determined as the current waveform reaches the pinned point. The slope is then fed to the commutation module of the SRM control system. An error signal from calculated inductance or current slope is used as an input to a control loop in the SRM control system. The time determining module determines an optimum time signal to fire a next pulse. The optimum time signal is fed to the SRM for turning the plurality of SRM switches to on and off states.

A drive control device for a motor includes an input terminal, an output terminal, an inverter circuit, a first switch unit, a capacitor, a diode, a rectifier circuit, a photo coupler, a second switch unit, and a voltage detector. The inverter circuit converts a direct current voltage into an alternating current voltage, and outputs the alternating current voltage to the output terminal. The first switch unit shorts the output terminal based on a control signal. The capacitor is connected to the input terminal, and is charged by a direct current voltage. The diode is connected between the input terminal and the capacitor. The diode limits a direction where a charge current for charging the capacitor flows. The rectifier circuit rectifies an induced voltage, which is generated in the motor, and outputs a rectified voltage. The photo coupler converts the rectified voltage into an optical signal, and thereafter, converts the optical signal into a converted signal. The second switch unit outputs the control signal based on the converted signal. The voltage detector detects whether the direct current voltage is input to the input terminal, and determines whether to negate the control signal.

A method for detecting an initial position of a rotor of a permanent magnet synchronous motor in a no-load environment can comprise the steps of: estimating a temporary initial position α′ by means of aligning a d axis; measuring a first voltage command which is output by performing velocity control within predetermined velocity ranges with respect to the forward direction of a motor on the basis of the temporary initial position α′; measuring a second voltage command which is output by performing velocity control within the predetermined velocity range with respect to the reverse direction of the motor on the basis of the temporary initial position α′; calculating respective variations of the first voltage command and second voltage command, and calculating a compensation angle α″; and calculating an initial position α of the rotor on the basis of the sum of the temporary initial position α′ and compensation angle α″.

An electric vehicle propulsion control device includes a power converter that applies an alternating-current voltage to an induction machine and a controller that controls the power converter based on an external operation command. The controller includes a first calculation unit. The first calculation unit calculates, from current information (id and iq) detected at the induction machine and current command values (id*1 and iq*1) that are based on the operation command, a d-axis voltage command (Vd*1) and a q-axis voltage command (Vq*1) for the power converter, and a primary magnetic flux φds and a secondary magnetic flux φdr of the induction machine. The first calculation unit also adds to or subtracts from a term including the q-axis voltage command (Vq*1) an interference term stemming from the d-axis voltage command (Vd*1) in calculating a first speed ω1 that is a free-run speed of the induction machine.

A variable speed drive comprises an output for delivering a drive voltage to an electric motor, power inverter, a drive controller, and a current sensor. The drive controller includes a PWM generator, a control law module, and a state variable estimator for estimating a state variable of the electric motor. The module computes a target voltage signal based on state variable estimates provided by the estimator and outputs the target voltage signal to the PWM generator. The generator approximates the target voltage signal with a PWM control signal, controls the inverter using the control signal, computes, based on the deviation between the control signal and the target voltage signal, an estimation support signal, and outputs the estimation support signal to the estimator. The estimator estimates a state variable of the motor based on the estimation support signal and the drive current, and outputs the estimate to the module.