Abstract: A press machine controller (10) for controlling a press machine (30) having a servo motor (41) to drive a slide (38) via a reduction mechanism (37) changed in reduction ratio in accordance with the position of the slide (38) is disclosed. The device includes a command generator (20) for generating at least one of a position command, a speed command and a torque command for the servo motor (41); a vibration command generator (13) for generating a vibration command based on a parameter preset for the press machine controller (10); a slide position detector (12) for detecting the position of the slide (38); and a vibration command adding portion (21, 22, 23) for adding the vibration command to any one of the position command, the speed command and the torque command for the servo motor (41) in the case where the slide position is in a predetermined range. The press machine, even if stopped with the slide at the bottom dead center, can be restarted with a small torque.

Abstract: In a positioning device in gantry type of construction, due to a special arrangement of the position-measuring devices used for the positioning, errors due to thermal expansion of the positioning device may be avoided to a great extent. In particular, attention is given to the advantageous placement of fixed point of a scale relative to a straightness track of a further scale.

Abstract: A device for controlling a rotary press is provided. The device includes a main evaluation unit which is provided with a main signal inlet, at least a first main signal outlet and a first main transformation device. The device further includes a master generator which is capable of generating a master signal which represents a reference value of the rotary press, and a first interface which is capable of generating a first periodic signal in accordance with the master signal and transmitting this first periodic signal to the main signal inlet.

Abstract: A multiple-rotation absolute-value encoder of a geared motor, wherein the geared motor (10) reduces the rotational speed of a motor shaft (12) and takes it out from a gear shaft (14) to drive a machine device (15) in an operating range corresponding to two rotations of the gear shaft (14). The multiple-rotation absolute-value encoder (20) fitted to the geared motor (10) is made up of a gear shaft absolute value encoder (30) for detecting the absolute position of the gear shaft (14) and a load side absolute value encoder (50) having a two-pole magnet (51) and a magnetic sensor (52) rotating at a rotational speed reduced to half the rotational speed of the gear shaft (14) through the magnetic gear (40).

Abstract: A system compatible for different types of signals relates to a motor includes a differential amplifier, a comparator, and a transmitting device. The differential amplifier is configured to receive one of a differential digital pulse signals pair and a differential analog signals pair. The differential digital pulse signals pair is converted to a first digital signal, and the differential analog signals pair is converted to an analog signal by the differential amplifier. The comparator is configured to convert the analog signal into a second digital signal. The first digital signal is received and outputted by the comparator. The transmitting device is configured to convert a data signals pair to a binary code, and convert differential reference digital signals pairs to reference digital signals. The reference digital signals, the first and second digital signals are received by an external computing device.

Abstract: Provided is an apparatus and method for estimating sensor signals to stabilize a posture of a mobile satellite tracking antenna.

Abstract: An electric mirror control device provided with a proportionality constant conversion means for converting the proportionality constant of a detection output voltage to the angle of a mirror surface to be positive or negative. When an up-down sensor and a right-left sensor for detecting the angle of the mirror surface have a plurality of specifications, each of which has a different proportionality constant of the detection output voltage to the angle of the mirror surface, controller determines the specification of the angle sensors based on whether the proportionality constant of the detection output voltage output via the proportionality constant conversion means is positive or negative, and controls an up-down motor or a right-left motor in accordance with the determined specification stored in advance.

Abstract: This seatbelt apparatus includes: a belt reel around which a belt is wound; a motor which rotationally drives the belt reel; a transmitting device which transmits a driving power between the belt reel and the motor; a controller which drives the motor while controlling an electricity to be supplied to the motor; a rotation-detection device which detects a rotation status of the belt reel. The rotation-detection device outputs, in accordance with a rotation of the belt reel, a plurality of outputs including signals indicating a first state in which a current consumption by the rotation-detection device is larger than a predetermined value, and a second state in which the current consumption by the rotation-detection device is smaller than the predetermined value. The controller executes a first motor-driving process in which the motor is driven based on an output from the rotation-detection device until reaching the second state.

Abstract: An apparatus and method for identifying the position of a magnetic shaft are provided. N field sensors are adjacently positioned at fixed locations relative to the shaft's periodic field, corresponding to 180/N relative phase shifts. A table provides N>2 predetermined signal models and a pre-identified position associated with each. An interpolator compares a representation of the N measured sensor signals to at least two predetermined models to generate a correction signal that provides another pre-identified position. The correction signal depends on N sensors for every position of the shaft. The correction signal is used to incrementally choose said another pre-identified position from the table as an approximate position of the shaft in an iterative process to find the minimum correction signal and identify the position.

Abstract: An exposure apparatus that comprises a stage-that moves in the X-axis direction, an X-axis linear motor that drives the stage, a counter mass that moves in a direction opposite to the stage due to the action of the reaction force of the drive force of the stage in the X-axis direction by the motor, X-axis trim motors that drives the counter mass in the X-axis direction, and a control unit that controls the trim motors and gives the counter mass an initial velocity in the +X direction when the stage is moved via the motor, for example, in the +X direction. Accordingly, the strokes required for the movement of the counter mass can be shortened without increasing the size of the counter mass.

Abstract: In a machine tool controller (1): a position control unit (12) controls, based on an operational signal input from without during manual operation, a moving body's move-to point and moving speed; a memory (13) stores data modeling the moving body and any potentially interfering machine-tool structure; a travel-area checking unit (17) defines in the modeled structure speed-control regions obtained by displacing the structure's contour, generates, based on the defined speed control regions and on current moving-body position, data modeling the moving body as moved into its current position, to check whether the moving body will travel within a speed control region, and if so, sends to the position control unit a speed limit predefined for that speed control region. The position control unit controls the moving body to travel at speed limit if the operational-signal-directed moving speed exceeds the speed limit.

Abstract: Apparatus and methods are provided for diagnosing faults in multiple, associated motor-resolver systems. One apparatus includes a swapping circuit coupling a first resolver to a first or second decoder, and a swapping circuit coupling a second resolver to the first or second decoder. One method includes applying a signal from a resolver to a first decoder to determine that the first decoder is malfunctioning if the first decoder continues to generate a fault signal, and applying a signal from a different resolver to a second decoder to determine that a motor associated with the first decoder is malfunctioning if the second decoder generates a fault signal. Another method includes transmitting a signal from a resolver to first and second decoders, transmitting a signal from a different resolver to the first and second decoders, and determining if the first decoder, second decoder, a first motor, or a second motor is malfunctioning.

Abstract: A movable member is moved in a preset direction in a linear motor. A characteristic-change position-detecting unit detects a position where the magnetic characteristic of the magnets has abruptly changed. The position detected is used as an origin-setting reference position. A reference position for the absolute position of the magnetic linear encoder is set based on the reference position.

Abstract: One or more magnets are mounted on the rotor of a motor/actuator and analog Hall Effect sensors are mounted on the stator of the motor actuator to provide the necessary feedback for both speed and position control of the rotor. The feedback system includes signal conditioning circuitry for conditioning the sinusoidal signal produced by the magnet and the Hall Effect sensors and a tracking converter observer algorithm executing on the system microprocessor to produce controlled motion. The controller (and other electronics) may be integrated into the housing of the motor or actuator to provide a compact, efficient system for use in a number of applications.

Abstract: A method for protecting an electronic apparatus driven by a DC motor and a detection circuit for detecting positioning signals thereof. The electronic device includes an optical encoder, a code strip, and a DC motor. While moves along the code strip, the optical encoder outputs a first positioning signal and a second positioning signal for the control of the DC motor. The method includes the steps described below. First, states of the first and second positioning signals are detected. If the states of the first and second positioning signals are normal, the DC motor is controlled according to the first and second positioning signals. If the first positioning signal or the second positioning signal is abnormal, a preventive method is performed.

Abstract: An apparatus and method for identifying the position of a magnetic shaft are provided. N field sensors are adjacently positioned at fixed locations relative to the shaft's periodic field, corresponding to 180/N relative phase shifts. A table provides N>2 predetermined signal models and a pre-identified position associated with each. An interpolator compares a representation of the N measured sensor signals to at least two predetermined models to generate a correction signal that provides another pre-identified position. The correction signal depends on N sensors for every position of the shaft. The correction signal is used to incrementally choose said another pre-identified position from the table as an approximate position of the shaft in an iterative process to find the minimum correction signal and identify the position.

Abstract: An apparatus and method of controlling injection in an electric injection molding machine including a motor and a screw. The apparatus has an encoder detecting a current position of the screw and outputting the detected position as an encoding signal, a memory storing reference positions of the screw according to a drive of the motor by the passage of time, and a current controller checking an elapse of time that the screw moves from a previous position to a current position through receiving the encoding signal from the encoder, reading out a section of time corresponding to the checked elapse of time from the memory, and controlling a current value applied to the motor based on a difference between a reference position of the screw corresponding to the read-out section of time and a current position of the screw.

Abstract: A motor controlling method according to the present invention involves causing rotation of a motor to commence by applying an initial power that can cause movement of an object to be transported to commence, to the motor; obtaining a position of the object to be transported after the motor has been controlled so as to cause the object to be transported to move to a target position based on a signal outputted in response to the rotation of the motor; and correcting an initial power to be used when movement of the object to be transported is caused to commence a next time in response to a difference between the target position and the obtained position of the object to be transported.

Abstract: A robot control device that controls operation of a robot having an actuator includes a casing, an actuator driver, a drive-control board, a main control board, a main power supply board, a vent passage, a cooling fan, and a holding member. The actuator driver is accommodated in the casing and drives the actuator. The drive-control board is accommodated in the casing and controls operation of the actuator driver. The main control board is accommodated in the casing and controls operation of the drive-control board. The main power supply board is accommodated in the casing and supplies a power to the drive-control board and the main control board. The vent passage is defined by at least the drive-control board, the main control board, and the main power supply board and has an end open to the exterior of the casing. The cooling fan is arranged at an end of the vent passage and causes the air to flow through the vent passage. The holding member is provided in the vent passage and holds the actuator driver.

Abstract: The invention relates to an actuator (9) comprising a rotary electric motor (12) a screw Old) driven in rotation by the motor, a mechanical member (15) driven in translation by the screw, a first position sensor (40) sensitive to a position of the electric motor and/or of the screw, a second position sensor (41) sensitive to a position of the mechanical member, and a servo-control circuit (11) connected to both of the position sensors and to the motor, this circuit delivering a power supply signal to the motor that varies as a function of a position setpoint signal (23) and as a function of signals delivered by the two position sensors; the second position sensor presents a resolution that is at least equivalent to the resolution of the first position sensor, and the servo-control circuit includes redundant modules (19, 22) for calculating the position of the mechanical member as a function of the signals/data delivered by the two sensors, together with at least two modules (17, 18) for mutual surveillance of

Abstract: A controller for a motor driving apparatus switches a direction of electricity flowing through a first coil according to a first lead angle signal obtained based on a first magnetic pole detecting signal and a second magnetic pole detecting signal. The controller switches a direction of electricity flowing through a second coil according to a second lead angle signal obtained based on the first magnetic pole detecting signal and the second magnetic pole detecting signal. Thus, a motor driving apparatus can be configured such that the angle of the rotation center of the rotor with respect to two magnetically sensitive poles can freely be selected.

Abstract: The aim of the invention is to provide a linear/rotation drive with an improved transmitter device for detecting the linear and rotational movements. For this purpose, the transmitter device (12, 14, 16, 17) for detecting the linear movement and/or rotational movement of the secondary part (4) of the linear drive (2) configured as an external rotor is at least partially arranged inside the primary part (6) of the linear drive (2). In this manner, the transmitter device (12, 14, 16, 17) is located in a magnetically shielded area. In order to avoid eccentricities in the transmitted device (12, 14, 16, 17), a journal (10) of the secondary part (4) is mounted on a bearing (11) in the primary part (6).

Abstract: An electronic line shaft comprising a motor drive comprising a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal where the noise filter has at least one controllable filter parameter that affects filter operating characteristics and a processing unit operable to execute a wizard for configuring the motor drive, the wizard being operable to receive mechanical characteristic data associated with the motor drive that is provided as input by a wizard user via a user interface and to determine a noise parameter based on the mechanical characteristic data, wherein the at least one controllable filter parameter is adjusted as a function of the noise parameter.

Abstract: An integrated sensory actuator (10) which uses an electroactive polymer is provided. The sensory actuator is comprised of an actuating member (12) made of an ionic polymer-metal composite; a sensing member (14) made of a piezoelectric material; and an insulating member (16) interposed between the actuating member and the sensing member. The sensory actuator may further include a compensation circuit adapted to receive a sensed signal from the sensing member and an actuation signal from the actuating member and compensate the sensed signal for feedthrough coupling between the actuating member and the sensing member.

Abstract: A micromechanical element includes a movable functional element, a first retaining element, a second retaining element, a third retaining element, and a fourth retaining element. The first retaining element and the functional element are connected at a first junction, the second retaining element and the functional element are connected at a second junction, the third retaining element and the functional element are connected at a third junction, and the fourth retaining element and the functional element are connected at a fourth junction. In addition, the first retaining element and the second retaining element each include a piezoelectric driving element, the driving element of the first retaining element and the driving element of the second retaining element being configured to move the functional element in accordance with electric excitation.

Abstract: A system compatible for different types of signals relates to a motor includes a differential amplifier, a comparator, and a transmitting device. The differential amplifier is configured to receive one of a differential digital pulse signals pair and a differential analog signals pair. The differential digital pulse signals pair is converted to a first digital signal, and the differential analog signals pair is converted to an analog signal by the differential amplifier. The comparator is configured to convert the analog signal into a second digital signal. The first digital signal is received and outputted by the comparator. The transmitting device is configured to convert a data signals pair to a binary code, and convert differential reference digital signals pairs to reference digital signals. The reference digital signals, the first and second digital signals are received by an external computing device.

Abstract: In a positioning device in gantry type of construction, due to a special arrangement of the position-measuring devices used for the positioning, errors due to thermal expansion of the positioning device may be avoided to a great extent. In particular, attention is given to the advantageous placement of fixed point of a scale relative to a straightness track of a further scale.

Abstract: An actuator using a piezoelectric element and a method of driving the same. The actuator includes at least one piezoelectric cell moving by displacement according to an input voltage, at least one piezoelectric sensor sensing the displacement of the at least one piezoelectric cell, an error detector detecting an error in the at least one piezoelectric sensor, and a feedback signal generator generating a feedback signal corresponding to the error, thereby performing micromirror driving and sensing.

Abstract: A servo device is provided which includes a drive source made of a brushless motor. A DC motor driving integrated circuit produces output signals and controls the output of a three-phase brushless motor driving integrated circuit to drive the brush less motor. A selection switching section detects information regarding the rotational speed of the brushless motor. The selection switching section extracts the counter electromotive voltage of the brushless motor, feeds the voltage back to the DC motor driving integrated circuit and PWM controls a drive signal output from the three-phase brushless motor driving integrated circuit. This allows the brushless motor to be easily applied to the servo device.

Abstract: The present invention is a rotary indexing table driven by an induction motor. The rotary indexing table includes a rotatable work supporting platform, an AC induction motor including a motor shaft coupled to the rotatable work supporting platform; and a controller operatively coupled to the AC induction motor. The AC induction motor is equipped with a high resolution positional feedback device. The high-resolution positional feedback device may be an encoder or a resolver. The controller is configured to drive the AC induction motor in a direct drive manner. The high-resolution positional feedback device is operatively coupled to the controller, and the controller is configured to filter a signal provided by the high-resolution positional feedback device. The signal provided by the high-resolution positional feedback device may be a square wave or a sine wave. The present invention is also directed to a method precisely driving and positioning a rotary indexing table.

Abstract: A positioning device for positioning a positioning element has a motor (18) that drives the positioning element (10) and has a measuring device that directly measures the positioning travel of the positioning element for controlling the motor (18). For this, a traction cable (32) is joined to the positioning element and is wound onto a drum (36). For measuring the positioning travel of the positioning element, the rotational position of the drum (36) is measured by means of an encoder (42).

Abstract: A powered surgical tool with a housing that contains a power generating unit such as a motor. A control module is disposed in a shell that is mounted in the housing. The control module contains a control circuit for regulating the actuation of the power generating unit. The power generating unit emits a signal representative of the operating state of the unit that is transmitted through the structural material forming the shell. Also internal to the control module shell is a sensor that monitors the signal emitted by the power generating unit. This signal output by the sensor is applied to the control circuit. The control circuit, based on the sensor signal regulates actuation of the power generating unit. Wherein the power generating unit is a motor, the signal emitted is the magnetic field that varies with rotor position. The sensor monitors the strength of this field.

Abstract: A displacement detecting method of the present invention includes the steps of driving a moving part 3 using a drive unit 1, detecting a displacement amount 6 (detected angle ?m?) of the moving part 3 using a displacement detector 5, correcting the displacement amount 6 (detected angle ?m?) using a displacement correction table so that a displacement velocity (d?m?/dt) of the displacement amount 6 (detected angle ?m?) detected by the displacement detector 5 is constant, and detecting a displacement amount (detected angle ?m?) corrected by the displacement correction table as the displacement amount of the moving part 3.

Abstract: This invention discloses a method and system for measuring a CNC machine. The system comprises a platform, a driving module, a set of optical scales, and a detection module. The platform is driven by the driving module. In addition, the driving module further comprises a set of encoders. As the driving module drives the platform to move to a position by a first displacement, the encoders indicate the first displacement. The optical scales indicate a second displacement by which the platform is driven by the driving module. The detection module detects the difference between the first displacement and the second displacement.

Abstract: In an automatic transmission position control by a motor, it is determined whether the present instant belongs to a starting period, that is, the present instant is immediately after resetting of a control unit or application of power to it. If it is the starting period, an actual shift position that is detected from an output of an output shaft sensor for detecting a rotation position of a motor is set as an instructed shift position. With this measure, even if the control unit is reset for a certain reason while the vehicle is running, the instructed shift position is not changed in association with the resetting. This prevents trouble that the shift position is switched contrary to the intention of the driver, whereby the reliability of a position switching control can be increased.

Abstract: There is provided a motor driving apparatus in which variations in individual circuit constants have a small effect even when a drive current is small. An error amplifier circuit amplifies a difference between a current detection signal showing a current value of a drive current that flows in the motor and a drive command signal controlling the drive current and converts an amplified difference into a current to output the current as an error amplifier current signal. A D/A conversion circuit generates a sinusoidal signal from the error amplifier current signal based on a digital signal sequence outputted from a rotational position detecting unit. It is preferable that a transfer coefficient of the error amplifier circuit is inversely proportional to the resistance value of the D/A conversion circuit.

Abstract: A manufacturing method for a code wheel for a rotary encoder is provided. The code wheel includes, in a central portion, a hole into which a rotary shaft of a rotary member is fitted and a code portion including a radial code pattern in a circumferential edge portion. The manufacturing method is configured to include the steps of forming the code portion and a reference circle in a plate so that the reference circle has a radius larger than a radius of the hole by a tolerance of deviation between a center position of the code portion and a center position of the hole and has a same center as that of the code portion; and forming the hole in the plate in which the code portion and the reference circle are formed, so as to be contained in the reference circle.

Abstract: An arrangement having at least one movable furniture part, in particular having a drawer or the like, having at least one drive unit and at least one regulating device for regulating the at least one drive unit, wherein the arrangement (7) has at least one, preferably analog, acceleration measuring device (2), with the at least one acceleration measuring device (2) generating an acceleration signal that is characteristic of accelerations caused by forces applied to the at least one movable furniture part (3) from the outside and that may be supplied to the at least one regulating device (1).

Abstract: A mechanical-electronic position sensor in which the wiper voltage of a potentiometer actuated by a plunger is measured, processed by a microcontroller, and is available as an analog output signal via an output stage. In the event that watchdog signals fail to appear because of a malfunction of the microcontroller, two monitoring stages deactivate the output stage. The monitoring stages themselves are tested by regularly interrupting the watchdog signals for a short time while the output stage is maintained active.

Abstract: This invention discloses a method and apparatus for measuring the weight of a CNC workpiece. As the weight of the workpiece on a loading platform increases, the loading of a driving module which drives the loading platform in constant speed increases accordingly. On the contrary, as the weight of the workpiece on the loading platform decreases, the loading of the driving module which drives the loading platform in constant speed also decreases. This invention determines the weight of the workpiece on the loading platform by measuring the electrical signal which drives the driving module and utilizing a calibration curve data in a preconfigured database.

Abstract: A rotating stage assembly performs high precision rotational angle and position error correction by continuous sensing and correcting motor stage assembly errors. It performs these corrections, to adjust for motor environmental and operational errors by sensing and correcting using five sensors placed to measure the adjustments of five corresponding actuators, which adjust the entire motor rotating stage and rotary motor assembly relative to a reference frame.

Abstract: A stator position adjustment method and device relating to a motor driving device including a motor case, a rotor and a stator disposed on an outer periphery of the rotor concentrically with the rotor, includes adjusting a position of the stator relative to an axial center of the rotor, wherein: the position of the stator relative to the axial center of the rotor is adjusted in a non-inserted state, in which the stator is housed inside the motor case and the rotor is not inserted in the stator, using an adjustment tool, and the adjustment tool is positioned using a rotor shaft-support portion, that shaft-supports the rotor on the motor case as a reference.

Abstract: In a positioning control device based on control of an observer having a disturbance suppression function, a disturbance suppression function according to a head position is added without impairing the control characteristics of the observer. The position control device has an observer having a disturbance suppression function comprising a model of an actuator and a model of disturbance, and a table for storing an estimated gain of the observer according to a position of the head. And an estimated gain is acquired from the table according to the position of the head, and an estimated gain of the observer is changed so as to change the disturbance suppression frequency characteristic. The disturbance suppression characteristic can be optimized according to the position of the head in the radius direction or between disks, and vibration of the head can be prevented even if recording density is increased.

Abstract: In a stabilizer control apparatus for transmitting a power through a speed reducing mechanism, a rolling motion of a vehicle body is restrained smoothly and rapidly, without being affected by transmitting efficiency of the speed reducing mechanism. As for a stabilizer (SBf) including a pair of stabilizer bars (SBfr, SBfl) disposed between a right wheel and a left wheel, and a stabilizer actuator (FT) driven by an electric motor disposed between them, the electric motor M is controlled in response to a turning state of a vehicle, to control a torsional rigidity of the stabilizer. Furthermore, the apparatus comprises relative position detection means for detecting the relative position of the pair of stabilizer bars (for example, obtained from a relationship between a rotational angle of the electric motor and a reducing speed ratio), and it is so constituted that the electric motor is controlled in response to the detected result.

Abstract: An angle-calculation apparatus for three-phase optical encoder receives three-phase sinusoidal signals 120 degree phase from the optical encoder and obtains angle information for a motor rotor. The angle-calculation apparatus includes an A/D converter, a digital signal processor (DSP), a phase digitalizer and a digital counter. The A/D converter converts three-phase analog signals of the optical encoder into three-phase digital signals. The phase digitalizer converts the three-phase analog signals into digital phase signals. The digital counter generates a counting value based on the digital phase signals. The DSP performs an inverse trigonometric function calculation on a relatively linear region of the three-phase digital signals to obtain the angle information. The DSP obtains the rotation turn number and rotation direction of the motor rotor according to the counting value.

Abstract: The electric potential measuring instrument comprises an electrode arranged on a semiconductor substrate at a position opposite to the object of measurement and a modulator for modulating the coupling capacitance between the object of measurement and the electrode. The electrode is the gate electrode of a field effect type transistor. The modulated electric current that flows between the source diffusion region and the drain diffusion region of the field effect type transistor is synchronously detected by a detection circuit with the modulation frequency of the modulator. The output signal that appears on the gate electrode of a field effect transistor can be measured with ease by changing the coupling capacitance between the electrode of an electric potential measuring instrument and an object of measurement.

Abstract: A position feedback device for a motor comprises a driven member and a sensing device. The driven member is indirectly connected to the motor and driven by it. The sensing device detects the travel length of the motor by sensing the driven member. With the method of indirectly sensing the motor, the measurement error, production cost can be reduced, and the assembling position is flexible.

Abstract: A control device includes a first switch (400) by which an input signal to a motor speed control loop (910) is selected from a signal of a position control loop (300) and a signal of the speed control loop (200), and a switch controller (500) that controls switching of the first switch (400), so that the first switch (400) can switch between a quadruple loop (a current control loop, the motor speed control loop, the speed control loop (200) and the position control loop (300)) with the speed control loop (200) embedded therein, and a triple loop (the current control loop, the motor speed control loop and the position control loop (300)) without the speed control loop (200), corresponding to a transient state and a steady state.

Abstract: A method of optimizing a servo controller power required in the operation of two-dimensional flexure (Microelectronic Memory Storage) MEMS devices. Furthermore, provided is an arrangement for optimizing servo controller power in a two-dimensional flexure MEMS storage device through a utilization of the inventive method.

Abstract: A car control apparatus including a wheel sensor, wheel torque calculating means for calculating wheel torque from the wheel speed, drive force detecting means for detecting drive force generated by an electric motor, car body drive force calculating means for calculating car body drive force from the above drive force and wheel torque, car body drive force fluctuating component extracting means for extracting multiple frequency band fluctuating components of the car body drive force, and drive or braking force control unit for controlling the running state of a car.