Abstract: A control apparatus for a machine that can be operated at high precision in a stable control state is provided by driving a movable body with control parameters suited to the mechanical state. A control parameter calculation circuit is provided to obtain control parameters for a drive apparatus control circuit for driving actuators in accordance with the conditions of actuator rotational velocity, the orientation of the movable body, and the position of the movable body, and a control parameter K for the drive apparatus control circuit is varied.

Abstract: A control system for driving a variable speed AC motor employing a fixed frequency AC power source, combines pulses representative of a desired slip frequency with pulses of a frequency proportional to the speed of the motor. The combined pulses are employed with a speed command signal to set a threshold which determines the fraction of each cycle of the AC primary power which is fed to the motor. In addition, the speed and slip pulses are employed to direct the AC power to specific ones of the windings of the motor to thereby create a rotating magnetic field in the induction motor. An array of silicon-controlled rectifiers does the actual gating and an SCR protect circuit ensures that transfer of control from one SCR to another is inhibited until all current ceases to flow in an SCR being extinguished. A forced commutation circuit forces the extinction of all current remaining in the last conducting SCR feeding a motor winding at the transfer time from that motor winding to the next.

Abstract: A displacement - electricity transducer contains a movable magnetic core and a fixed magnetic core oppositely arranged so as to have predetermined gaps or clearances in at least two places. Two substantially closed magnetic circuits, each including one of the gaps, are formed by both magnetic cores, so that when the movable magnetic core is displaced relative to the fixed magnetic core while maintaining a predetermined spacing therefrom, the substantially opposite area of the gap portion in one of the magnetic circuits increases, while the substantially opposite area of the gap portion in the other magnetic circuit decreases. A first coil is wound around a part common to the two magnetic circuits, while a second coil is wound around a part not common thereto. By applying an alternating current to the first coil, an output responsive to the displacement of the movable magnetic core is derived from the second coil.