Disclosed are a backlash vibration reduction apparatus and method capable of sufficiently performing gear alignment even when torque is increased while a vehicle is driven within a low torque range, thereby minimizing rough vibration due to backlash. The backlash vibration reduction apparatus includes a correction determination unit configured to determine whether it is necessary to correct a torque gradient to be applied for an increase to target torque in the state in which the current torque of a vehicle is retained within a predetermined low torque range and a torque gradient correction unit configured to determine a corrected torque gradient in which a torque increase rate per hour is reduced and a torque increase time period is extended by multiplying a correction factor by a first torque gradient as a torque gradient that increases the current torque upon determining that it is necessary to correct the torque gradient.

Some embodiments are directed to a method for estimating a periodic or substantially periodic force present in a mechanical or electromechanical system, the method comprising: estimating, by a processing device, one or more harmonic frequencies of an acceleration signal representing an acceleration in the system, the substantially periodic force contributing to said acceleration; and estimating, by the processing device, the force on the basis of a dynamic model of the system, the dynamic model being defined by said one or more estimated harmonic frequencies.

A shift range control apparatus controls a shift range switching system that switches shift ranges by controlling driving of a motor. This control apparatus calculates a motor angle based on a motor rotation angle signal, acquires an output shaft signal based on a rotation position of an output shaft from an output shaft sensor, sets a target rotation angle based on a target shift range and the output shaft signal, and controls driving of the motor such that the motor angle becomes the target rotation angle. The control apparatus sets the target rotation angle to a target limit value, in response to the target rotation angle that is set based on the output shaft signal being a value at which rotation occurs that is further toward a back side in a rotation direction than the target limit value that is set based on shift ranges before and after switching.

A command generation device according to an exemplary embodiment of the present invention includes a command receiving unit that receives a high-level command value related to motion of a motor from a host device, and an internal target generation unit that generates an internal target value of the motor, including a position target value and a rotational speed target value, based on the high-level command value. The internal target generation unit includes a feedback calculator that generates the internal target value corrected based on a difference between the high-level command value and the internal target value, and generates the internal target value corrected in a cycle shorter than a cycle of receiving the high-level command value with the command receiving unit.

A vibration control device includes: a rotor formed of a soft magnetic body and fixed to an output shaft of a rotation driver or to a shaft that rotates in conjunction with the output shaft, the rotor being configured to rotate in response to rotation of the output shaft; a stator provided in a radial circumference of a rotation axis of the rotor; coils fixed to the stator and provided in a pair with the rotation axis therebetween; a charger-discharger provided in such a manner as to be connectable to the coils; a switching circuit provided capable of switching between connecting and disconnecting the coils and the charger-discharger; a first detector configured to detect a rotation angle of the rotor; and a control circuit configured to control operation of the switching circuit in accordance with the rotation angle of the rotor.

An electronic device includes a motor, a sensing device and a controller. The motor provides a motive power to the load. The sensing device measures a plurality of motion parameters of the motor. The controller calculates a real system parameter between the motor and the load according to the motion command and the plurality of motion parameters. According to the motion command and the plurality of motion parameters, the controller acquires a real value of a rotation speed of the motor. Moreover, controller establishes a system model according to the motion command and the real system parameter so as to acquire an estimated value of the rotation speed of the motor. If the first mean square error is not smaller than the first target value, the controller performs a particle swarm optimization algorithm to change the estimated value of the rotation speed of the motor.

An electric working machine in one aspect of the present disclosure includes a motor and a controller. The motor is configured to be electrically coupled to a battery pack and to be driven with electric power from the battery pack. The controller is configured to acquire an internal resistance information of the battery pack and to change control of the motor based on the internal resistance information acquired.

A command generation device according to an exemplary embodiment of the present invention includes a command receiving unit that receives a high-level command value related to motion of a motor from a host device, and an internal target generation unit that generates an internal target value of the motor, including a position target value and a rotational speed target value, based on the high-level command value. The internal target generation unit includes a feedback calculator that generates the internal target value corrected based on a difference between the high-level command value and the internal target value, and generates the internal target value corrected in a cycle shorter than a cycle of receiving the high-level command value with the command receiving unit.

An electric working machine in one aspect of the present disclosure includes: a motor, a manipulator, a setter, and a controller. The setter sets first control characteristics preliminarily registered. The first control characteristics are set to achieve a rotational speed of the motor from a minimum rotational speed to a maximum rotational speed with a manipulating range of the manipulator, which is 50% or less of an effective manipulating range thereof.

An electric working machine in one aspect of the present disclosure includes a motor and a controller. The motor is configured to be electrically coupled to a battery pack and to be driven with electric power from the battery pack. The controller is configured to acquire an internal resistance information of the battery pack and to change control of the motor based on the internal resistance information acquired.