Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.

Abstract: A servo control device to execute an operation in a discrete time system may include a velocity feedback path having a difference means calculating a pseudo-velocity from a detected position and a lowpass filter, and a PI control means executing a proportional integration control operation on a deviation between the pseudo-velocity and the position deviation to create a drive command for the driver. The velocity feedback path includes a first gain means applying a first gain to the pseudo-velocity, a delay means delaying the pseudo-velocity, and a second gain means applying a second gain to the delayed pseudo-velocity. A sum of an output of the first gain means and the second gain means is inputted to the lowpass filter, and “Fa(z)=1/(1?z?1Fb(z))” is satisfied where a transfer function of the PI control means is Fa(z), and a transfer function of the lowpass filter is Fb(z).

Abstract: Systems and methods of the present disclosure enable drive filtering with reduced common mode and differential mode harmonics using a drive filter including, common-differential mode inductors connected to an alternating current (AC) power source, where each common-differential mode inductor has a common mode inductance and a differential mode inductance. A differential mode capacitor is connected to each common-differential mode inductors for filtering the differential mode inductances. A first common mode capacitor is connected to each common-differential mode inductor for filtering the common mode inductances, where each first common mode capacitor are commonly connected. A second common mode capacitor is connected to each common-differential mode inductor for filtering the common mode inductances, where each second common mode capacitor are commonly connected. Output contacts are connected to the common-differential mode inductors to connect a load to the AC power source.

Abstract: An active noise control device includes a secondary path filter coefficient updating unit. The secondary path filter coefficient updating unit is configured to update a coefficient of a secondary path filter by using a coefficient of the secondary path filter after previous updating as a previous value, when a phase characteristic of the secondary path filter that sets an initial value as the coefficient and a phase characteristic of the secondary path filter that uses the previous value as the coefficient are not approximate to each other.

Abstract: A polishing apparatus and a polishing method capable of detecting whether a polishing tool has been brought into contact with a substrate, such as a wafer, and further capable of detecting a position of the polishing tool are disclosed. The polishing apparatus includes a substrate holder configured to hold a substrate, a pressing member configured to press a polishing tool against a surface of the substrate, an actuator configured to apply a pressing force to the pressing member, a motor-drive moving device configured to move the pressing member along the surface of the substrate, and a monitoring device configured to emit an alarm if a motor current supplied to the motor-drive moving device is smaller than a threshold value.

Abstract: Embodiments described herein introduce systems and methods of configurable robots for network based processes. An application server may provide a graphical user interface (GUI) including different modular components of virtual robots. The application server may provide quantitative models for virtual robots with a variety of trading styles. A user may be able to create his/her own virtual robot by dragging and dropping different modular components according to the user's requirements. The virtual robots may automatically conduct transactions and manage wealth for the user. The virtual robot may automatically and dynamically perform quantitative analysis, risk management, trading activity, and portfolio management. In addition to creating a customized virtual robot, a user may lease his/her virtual robot and collect payments from the renters. A user may also offer trading signals generated by his/her robots for other users to purchase.

Abstract: A starter air valve has a valve member and an actuator. A rotary spool valve has a rotatable valve body and an outer housing to selectively provide three modes of operation for the starter air valve. A first mode of operation connects air through the rotatable valve body to communicate with an actuator control, and to receive air back from the actuator control. The rotatable valve body then communicates the air to the actuator. In a second mode the rotatable valve body blocks communication between the actuator control and the actuator, and delivers air through a variable area port in a wall of the rotatable valve body to bypass the valve member. In a third mode the rotatable valve body blocks communication between the actuator and the actuator control, and connects air to the actuator without having passed to the actuator control. A starter air system is also disclosed.

Abstract: Provided are: a position command calculation unit which calculates a position command specifying a target position of a driven body driven by a servomotor; a counterforce command.

Abstract: A vibration isolation system including a support, a forward actuator and a return device. The support is for supporting the body on a base. The support has a body engaging surface and a base engaging surface. The base engaging surface is arranged to couple to the base. The support couples the body engaging surface to the body in a coupled state. The support uncouples the body engaging surface from the body in an uncoupled state. The forward actuator moves the body and the body engaging surface together relatively to the base in a first direction from a first initial position to an end position in the coupled state. The return device is configured to move the body engaging surface relatively to the body opposite to the first direction from the end position to a second initial position in the uncoupled state.

Abstract: A machine subject to state and control input constraints is control, while the control policy is learned from data collected during an operation of the machine. To ensure satisfaction of the constraints, the state of machine is maintained within a constraint admissible invariant set (CAIS) satisfying the constraints and the machine is controlled with corresponding control policy mapping a state of the system within the CAIS to a control input satisfying the control input constraints. The machine is controlled using a constrained policy iteration, in which a constrained policy evaluation updates CAIS and value function and a constrained policy improvement updates control policy that improves the cost function of operation according to the updated CAIS and the corresponding updated value function.

Abstract: To suppress a leakage current flowing through a parasitic capacitor of an insulated transformer of a high-side insulated power. The present invention suppresses a common mode current using a common mode reactor by focusing on the fact that a leakage current flowing through a parasitic capacitor of an insulated transformer of a high-side insulated power source resulting from a high-frequency signal generated due to an on/off operation of a high-side switching element is the common mode current. The common mode reactor reduces the common mode current and bears the high-frequency signal to prevent the high-frequency signal from being applied to the insulated transformer of the high-side insulated power source, suppress the leakage current flowing through the parasitic capacitor of the insulated transformer, and reduce an erroneous operation of the high-side switching element generated due to the leakage current flowing through the parasitic capacitor of the insulated transformer.

Abstract: The invention provides a device (10) and a method for controlling an electric machine (1). The method comprises the steps of: providing (S01) a desired torque value (54) for a torque to be exerted by the electric machine (1); determining (S02) a fault signal (51) which indicates a fault state of the electric machine (1); determining (S03) a current rotor angle value (56) of the electric machine (1); determining (S04) a fault state operating point (62; 62?) on the basis of the desired torque value (54) provided, the determined fault signal (51) and the determined current rotor angle value (56); and shifting or moving (S05) an operating point, at which the electric machine (1) is operated, from a normal state operating point (61) to the determined fault state operating point (62; 62?).

Abstract: Disclosed are a method of and an apparatus for controlling a vibration of a hybrid electric vehicle. An apparatus for controlling a vibration of a hybrid electric vehicle may include: an engine position detector detecting a position of an engine; an air amount detector detecting an air amount flowing into the engine; an accelerator pedal position detector detecting a position of an accelerator pedal; a vehicle speed detector detecting a speed of the hybrid electric vehicle; an SOC detector detecting a state of charge (SOC) of a battery; and a controller controlling operation of a motor based on the position of the engine, the air amount, the position of the accelerator pedal, the speed of the hybrid electric vehicle, and the SOC of the battery.

Abstract: Disclosed are a method of and an apparatus for controlling a vibration of a hybrid electric vehicle. An apparatus for controlling a vibration of a hybrid electric vehicle may include: an engine position detector detecting a position of an engine; an air amount detector detecting an air amount flowing into the engine; an accelerator pedal position detector detecting a position of an accelerator pedal; a vehicle speed detector detecting a speed of the hybrid electric vehicle; and a controller. The controller controls the operation of a motor based on the position of the engine, the air amount, the position of the accelerator pedal, and the speed of the hybrid electric vehicle.

Abstract: Disclosed are a method of and an apparatus for controlling a vibration of a hybrid electric vehicle. An apparatus for controlling a vibration of a hybrid electric vehicle disclosure may include: an engine position detector detecting a position of an engine; an air amount detector detecting an air amount flowing into the engine; an accelerator pedal position detector detecting a position of an accelerator pedal; a vehicle speed detector detecting a speed of the hybrid electric vehicle; and a controller controlling operation of a motor based on the engine position, the air amount, the position of the accelerator pedal, and the speed of the hybrid electric vehicle.

Abstract: Embodiments described herein introduce systems and methods of configurable robots for network based processes. An application server may provide a graphical user interface (GUI) including different modular components of virtual robots. The application server may provide quantitative models for virtual robots with a variety of trading styles. A user may be able to create his/her own virtual robot by dragging and dropping different modular components according to the user's requirements. The virtual robots may automatically conduct transactions and manage wealth for the user. The virtual robot may automatically and dynamically perform quantitative analysis, risk management, trading activity, and portfolio management. In addition to creating a customized virtual robot, a user may lease his/her virtual robot and collect payments from the renters. A user may also offer trading signals generated by his/her robots for other users to purchase.

Abstract: A filter circuit includes a filter having an input and an output at which an output of the filter is provided, a step detector coupled to receive an input signal at the input of the filter and configured to detect a predetermined step in the input signal and to assert a bypass signal in response to detection of the predetermined step. A logic circuit is responsive to the bypass signal and configured to cause the input signal to be coupled to the output of the filter without filtering when the bypass signal is asserted.

Abstract: According to one or more embodiments, a motor control system includes a first controller computing a first torque command using a first closed loop. The motor control system further includes a second controller computing a second torque command using a second closed loop. Both, the first controller and the second controller, compute the respective first torque command and the second torque command using a uniform calculation in which a pseudo/leaky integrator Ki s + ? in s domain (s is Laplace variable) is used and integrator state is calculated as Ki*?0te(?)exp(????t)d?, in time domain, which is implemented by discretization methods in electric control unit (ECU), where e is a tracking error, Ki is a predetermined integral parameter, and ? is a configurable parameter. The motor control system further includes a motor that receives a torque command for generating corresponding amount of torque based on the first torque command and the second torque command.

Abstract: A starter air valve comprising a housing comprising an inlet at a first end and an outlet at a second end opposite the first end, the inlet being fluidly connected to the outlet through a fluid pathway; a valve injected into the fluid pathway dividing the fluid pathway into a first chamber and second chamber, the valve in operation adjusts fluid flow through fluid pathway; an actuator operably connected to the valve; a solenoid in variable electrical connection with the actuator; and a rotary spool valve fluidly connected to the first chamber, the rotary spool valve operable to rotate to at least one of a normal start position, a full manual override position, and a plurality of partial manual override positions, wherein the rotary spool valve is in variable fluid connection with the actuator, wherein the solenoid is in variable electrical connection with the actuator through the rotary spool valve.

Abstract: A reaction force diversion mechanism, a motor device and a photolithography machine are disclosed. The photolithography machine includes an illumination unit, a mask stage, a projection objective, a main baseplate, a wafer stage and a main carrier frame. The illumination unit and the mask stage are disposed above the main baseplate, and the main carrier frame is arranged above a ground base. Both of the wafer stage and the main baseplate are supported on the main carrier frame, and vibration dampers are deployed between the main carrier frame and the ground base. Reaction force diversion mechanisms are disposed between the wafer stage and the ground base and between the mask stage and the ground base. The reaction force diversion mechanisms can divert reaction forces generated from movement of the two motion stages onto the ground base while blocking vibration propagating from the ground base toward the motion stages.

Abstract: An assembly for operating a DC synchronous machine according to an exemplary aspect of the present disclosure includes, among other things, a controller that is configured to determine a position of a rotating portion utilizing a carrier signal, adjust current supply to a field winding, and monitor and adjust operation of the DC synchronous machine based on various electrical parameters relating to the carrier signal. A method for operating a DC synchronous machine is also disclosed.

Abstract: A battery pack according to an exemplary aspect of the present disclosure includes, among other things, a battery assembly, a resonant device disposed about the battery assembly, a bracket located between the battery assembly and the resonant device, and at least one modulating device located between the bracket and the resonant device.

Abstract: A system for magnetic/impedance burst testing of large electric motors to determine broken rotor bar defect. The system being a portable tester and includes a Signal Processor, a single-phase power source VAC, an AC/DC boost converter connected to the power source, at least one energy storage device connected to the AC to DC boost converter, a Pulse Width Modulated drive module (PWM) connected to the at least one energy storage device, and a series of at least three switches (IPM) using switch/level boost-type PWM rectification. The burst test is repeated until a full rotation of magnetic angles are tested and recorded with the Signal Processor. Rotor impedance versus magnetic angle of the full rotation is verified in order to check for failure, and broken rotor bar defect is determined when a shift in measured stator's impedance/admittance level for any of the given magnetic angles is identified by the Signal Processor.

Abstract: A damping device and a design method provide an active damping for a device in which vibration is to be reduced. The damping device includes vibration detection means for detecting a vibration of the object; vibration generation means for generating a distortion on a portion of the object; control means for controlling the vibration generation means by a signal from the vibration detection means; and signal input and output means for transferring a signal with the control means. A driving force generation signal is received from outside through the signal input and output means, the driving force corresponding to the driving force generation signal is generated by the control means, the selected vibration generation means is driven by the driving force, and vibration state information obtained from the selected vibration detection means is output from the control means to the outside through the signal input and output means.

Abstract: A signal processor is configured to perform a process equivalent to performing a series of fixed-to-rotating coordinate conversion, a predetermined process and then rotating-to-fixed coordinate conversion, while maintaining linearity and time-invariance. The signal processor performs a process given by the following matrix G: G = [ F ? ( s + j ? ? ? 0 ) + F ? ( s - j ? ? ? 0 ) 2 F ? ( s + j ? ? ? 0 ) - F ? ( s - j ? ? ? 0 ) 2 ? j - F ? ( s + j ? ? ? 0 ) - F ? ( s - j ? ? ? 0 ) 2 ? j F ? ( s + j ? ? ? 0 ) + F ? ( s - j ? ? ? 0 ) 2 ] where F(s) is a transfer function representing the predetermined process, ?0 is a predetermined angular frequency and j is the imaginary unit.

Abstract: A vehicle control apparatus is provided with: a modulator configured to generate modulation signals; a first corrector configured to perform a first correction process in which a center value of the modulation signals is corrected to reduce a loss in the inverter; a second corrector configured to perform a second correction process in which an amplitude shift and a phase shift of the third harmonic signal with respect to the voltage command signals are reduced; and a controller configured (i) to control the first corrector to perform the first correction process if the DC voltage is greater than or equal to first predetermined voltage and (ii) to control the second corrector to perform the second correction process if the DC voltage is less than the first predetermined voltage, when a number of revolutions of the AC motor is less than a predetermined number of revolutions.

Abstract: Described techniques enable resource accounting and tracking in high access rate systems using low cost memories. A first set of counters is maintained in relatively lower cost memory. The first counters generally indicate the amount of resources used for each object in a set of objects, but on a potentially delayed basis. A second set of counters of smaller size is stored in a relatively higher cost memory that supports high arrival and departure rates for accurate accounting. Each second counter indicates the amount of resources assigned (or unassigned) to an object since the object's first counter was last updated, and is incremented or decremented whenever this amount changes. A background process is configured to update individual first counters from the corresponding second counters on a recurring basis. The exact times at which a given first counter is updated may vary in accordance with a variety of approaches.

Abstract: A motor control apparatus of the present invention is a motor control apparatus for compensating elastic deformation between a servo motor and a driven part, driven by the servo motor, which includes a position command generator for generating a position command of the motor, a compensation filter for compensating the position command generated by the position command generator and a servo control unit for controlling the movement of the motor based on a position command after compensation, i.e., the compensated position command by the compensation filter, and is constructed such that the compensation filter includes a filter F(s) having an inertia JL of the driven part, a stiffness coefficient K of an elastically deformable part and a damping coefficient C of the elastically deformable part as the elements of filter coefficients.

Abstract: A reaction force counteracting device includes a mounting seat supported on a base seat by means of a vibration isolating assembly, a stage movably mounted on the mounting seat and actuated by a primary actuating member, and a holding table coupled with and movable relative to the stage for holding an object. A reaction force counteracting unit includes a counteraction actuating member coupled with the primary actuating member, and a counteraction moving member actuated by the counteraction actuating member to be moved in an opposite direction relative to an accelerated displacement of the primary actuating member made by a reaction force generated from movement of the stage. A control unit is electronically connected to the primary and counteraction actuating members to control the movement of the counteraction moving member.

Abstract: A motion-control system for moving a mass according to different tasks includes at least one controllable actuator for performing the different tasks and an input module for receiving a specific task to perform. The system also includes a controller for controlling a performance of the specific task by the controllable actuator according to a specific control law and a tunable actuator having a tunable parameter of mechanical response, wherein the tunable actuator is mechanically arranged in the system, such that different values of the tunable parameter change dynamics of the system. An optimization module of the system jointly selects a value of the tunable parameter and the specific control law based on the specific task.

Abstract: A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics.

Abstract: A single degree of freedom vibration isolating device of a linear motor and a motion control method thereof. The vibration isolating device comprises a balance block, an anti-drifting driving unit, and a control unit. An upper surface of the balance block is connected to a stator of the linear motor, and a lower surface of the balance block is connected to a base. The anti-drifting driving unit is connected to the balance block for controlling the position of the balance block. Provided two motion control methods: inputting a second grating ruler signal to the control unit as feedback to perform variable stiffness and nonlinear control on the balance block; inputting a first and a second grating ruler signal to the control unit as feedback to obtain resultant centroid displacement signals of the rotor and the balance block to perform nonlinear anti-drifting control on the balance block.

Abstract: A non-contact sheet conductivity measurement system includes a magnetic head apparatus, a computing system coupled to the magnetic head apparatus, a linear actuator coupled to the magnetic head apparatus, a motor controller coupled to the magnetic head apparatus, a power supply coupled to the magnetic head apparatus and a frequency meter coupled to the magnetic head apparatus.

Abstract: A control method for suppressing vibration of a robot arm including a plurality of coupled links and driving units configured to drive the links includes calculating a first arm speed from at least one of acceleration and an angular velocity detected in a damping position for suppressing vibration, calculating a third arm speed according to the detected first arm speed and a second arm speed in the damping position calculated on the basis of a driving amount of the driving units, and subjecting the driving units to correction control on the basis of the calculated third arm speed.

Abstract: A damping circuit for an energy storage device. The damping circuit comprises a current detection device designed to detect an output current of energy supply strings or the energy storage device and to generate an output current signal dependent on the output current. The damping circuit also includes a closed-loop control circuit coupled to the current detection device. The closed-loop control circuit designed to adjust the output current signal to a setpoint current signal and to output a corresponding current control signal. A first winding of a transformer is coupled to an output connection of the energy storage device. A second winding is galvanically isolated from the first winding. A compensation current generation device is coupled to the closed-loop control circuit, and is designed to feed a compensation current into the second winding of the transformer depending on the current control signal.

Abstract: A servo controller having a function for reducing an amount of dropping of a gravity axis provided with a machine. The Servo controller is configured to control a servomotor for driving a gravity axis of the machine, and includes a brake signal outputting part configured to output a brake activation signal and a brake release signal to a mechanical brake for holding the gravity axis; a torque command generating part which generates a torque command value for controlling the position of the servomotor; and a torque limiting value generating part which generates a torque limiting value for limiting the torque command value. The torque limiting value generating part continuously reduces the torque limiting value from a first value larger than a torque corresponding to the gravity force to a second value smaller than the torque corresponding to the gravity force, after the brake activation signal is output.

Abstract: A machine tool includes a main axis 30 to which a touch probe 17 is attached, a motor 15 that rotationally drives the main axis 30, a rotation angle position detector 16 that detects a rotation angle position of the motor 15, and a control device 20. The control device, when a measurement mode command for performing measurement of a workpiece by the touch probe 17 is input, multiplies a d-axis current command value Idc by a d-axis current correction coefficient K that is less than 1 to reduce the d-axis current command value Idc to a d-axis current command correction value Idc?, using a d-axis current command correction section 4. Thus, in the machine tool, small rotation vibrations of the main axis, generated when rotating the main axis to which the probe is attached and performing measurements of a workpiece, can be suppressed to thereby increase the measurement accuracy.

Abstract: A single degree of freedom vibration isolating device of a linear motor and a motion control method thereof. The vibration isolating device comprises a balance block, an anti-drifting driving unit, and a control unit. An upper surface of the balance block is connected to a stator of the linear motor, and a lower surface of the balance block is connected to a base. The anti-drifting driving unit is connected to the balance block for controlling the position of the balance block. Provided two motion control methods; inputting a second grating ruler signal to the control unit as feedback to perform variable stiffness and nonlinear control on the balance block; inputting a first and a second grating ruler signal to the control unit as feedback to obtain resultant centroid displacement signals of the rotor and the balance block to perform nonlinear anti-drifting control on the balance block.

Abstract: There are provided an apparatus and a method for controlling a motor. The apparatus includes: a comparing unit comparing a target value and an output value and calculating error values therefrom; and a controlling unit controlling the motor by selecting one of a proportional control and a proportional integral control according to an average error value calculated by averaging the error values for each section having a predetermined interval and adjusting a gain value of the selected control.

Abstract: An improved technique for controlling an electro-mechanical actuator combines a sliding mode of control with a second mode of control. An error signal is generated based on the difference between an input position signal and a feedback position signal. When the error signal is above a predetermined threshold, the actuator is controlled in the sliding control mode. When the error signal is below the predetermined threshold, the actuator is controlled in the second control mode. The combination of the sliding control mode with the second control mode yields a robust controller that can tolerate large parameter variations and uncertainties without sacrificing precise steady state tracking.

Abstract: A control apparatus for a motor includes, a position detection unit which detects the position of a driven body, a positional error acquiring unit which acquires for each sampling cycle a positional error representing a deviation between the position command given to the motor and the position of the driven body detected by the position detection unit, a dead-zone processing unit which outputs the positional error by replacing the positional error with zero if the positional error acquired by the positional error acquiring unit lies within a predetermined dead-zone range, and a repetitive control unit which calculates an amount of correction such that the positional error output from the dead-zone processing unit is reduced to zero, and wherein: the motor is controlled based on the positional error acquired by the positional error acquiring unit and the amount of correction calculated by the repetitive control unit.

Abstract: There are provided: a plurality of notch filters which are arranged inside a control system for feedback-controlling a moving operation of a moving section of a motor and attenuate signal components having near frequencies with a notch frequency at a center in an input signal; a plurality of oscillation extracting filters which are set with different frequency bands as being corresponded to the respective notch filters and extract oscillating components in the set frequency bands from a speed detection signal; and a plurality of notch controlling sections which are arranged with respect to the respective oscillation extracting filters and control the notch frequencies of the corresponding notch filters so as to decrease amplitudes of the oscillating components extracted by the oscillation extracting filters.

Abstract: A servo control device includes a follow-up control unit that controls a control target that drives a mechanical system by a motor, a command function unit that has input therein a phase signal ? indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal ? by a preset first function, a second derivative unit that uses a second function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal, a correction-value computation unit that computes a first command correction value for correcting the motor motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant, and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction val

Abstract: An electric power assist steering motor sensor redundancy system is disclosed comprising a brushless motor selectively providing a first predetermined level of steering assistance for a vehicle. A first sensor and second sensor provide position information of the brushless motor to a motor controller. An alternative sensing system for the brushless motor may be selectively utilized to provide position information of the brushless motor to the controller when at least one of the first sensor or the second sensor fails.

Abstract: A host apparatus includes a command-pattern changing unit. A detector includes a detector-communication-parameter changing unit. A motor drive control apparatus includes a communication-parameter changing unit and a control-gain changing unit. The command-pattern changing unit, the detector-communication-parameter changing unit, and the communication-parameter changing unit change, based on determination of detector communication by a communication-abnormality determining unit, plural communication parameters, control gains, and command patterns, which are determined in advance, in synchronization with one another to control drive of a motor.

Abstract: Embodiments of the present invention provide a motor-driven mechanical system with a detection system to measure properties of a back channel and derive oscillatory characteristics of the mechanical system. Uses of the detection system may include calculating the resonant frequency of the mechanical system and a threshold drive DTH required to move the mechanical system from the starting mechanical stop position. System manufacturers often do not know the resonant frequency and DTH of their mechanical systems precisely. Therefore, the calculation of the specific mechanical system's resonant frequency and DTH rather than depending on the manufacturer's expected values improves precision in the mechanical system use. The backchannel calculations may be used either to replace or to improve corresponding pre-programmed values.

Abstract: The motor control device includes: a vehicle control device (1) for generating a first torque command value Tref according to state quantities of the vehicle acquired from various sensors (7); a vehicle-resonance-compensation calculation unit (23) for extracting a frequency component generating a vehicle resonance from torque ripple components detected from an electrical angle ? of a motor for traveling (3) by a vehicle resonance component extraction filter (24), and generating a second torque command value Tcmp as a resonance compensation value for carrying out feedback control for the extracted frequency component; and an adder (20) for generating a torque command value Tref_cmp by subtracting the second torque command value Tcmp from the first torque command value Tref, and the motor (3) is controlled according to the torque command value. With this, it is possible to restrain the resonance of the vehicle caused by the torque ripple of the motor (3).

Abstract: A vibration control robot system of the present invention includes: a robot controller (101) transmitting an operation command value and receiving an output value of a pulse encoder of the servo motor, wherein the robot controller includes a controller-side communication unit (5) which transmits the operation command value and the output value of the pulse encoder to a robot vibration controller; and the robot vibration controller (11) including: an acceleration sensor interface (15); a corrected operation command value calculation unit (13) which calculates a corrected operation command value obtained so as to suppress vibration of the robot; and a vibration-controller-side communication unit (12) which transmits the corrected operation command value to the robot controller (101), wherein the robot vibration controller (11) is arranged independently of the robot controller (101).

Abstract: A position control apparatus is configured to perform full-closed control for controlling the position of a driven member. The position control apparatus includes a vibration period and amplitude detector that detects a vibration period and a vibration amplitude included in a difference value between the position command value and the driven member position detection value. The position control apparatus also includes a constant vibration detector that outputs, as a vibration period of the constant vibration, a vibration period obtained while the driven member is not in an acceleration/deceleration state and the vibration period and the vibration amplitude detected by the vibration period and amplitude detector are equal to or greater than a vibration period threshold value and a vibration amplitude threshold value, respectively. The position control apparatus also includes a control parameter changer that changes the control parameter based on the vibration period output from the constant vibration detector.

Abstract: A servo control device includes a follow-up control unit that controls a control target that drives a mechanical system by a motor, a command function unit that has input therein a phase signal ? indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal ? by a preset first function, a second derivative unit that uses a second function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal, a correction-value computation unit that computes a first command correction value for correcting the motor motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant, and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction val