Abstract: Disclosed is a biped robot and multi-configuration robot capable of being spliced autonomously, and a control method of the multi-configuration robot. The biped robot comprises a torso, arms, legs, a tolerance docking sleeve, and a torso docking device. The arms are correspondingly arranged at the left and right sides of the torso, and two legs are arranged at the lower side of the torso. The tolerance docking sleeve is movably arranged at the rear side of the torso through a base, and the torso docking device is fixed to the front side of the torso. Single biped robots in the present disclosure can form a multi-configuration legged combined body in a self-organization and reconstruction mode so as to achieve bipedal, quadrupedal, hexapodal and other multi-legged configurations. The motion stability and the load capacity of the legged robot are improved through the splicing combination of the modular legged robots.

Abstract: A method for controlling the direction of rotation of a fluid machine having an oriented-blade impeller, comprising the following steps: starting (100) a synchronous electric motor which operates said fluid machine until the synchronous state is reached; driving (200) said synchronous electric motor at steady state by applying a phase cutting; applying (300) a phase cutting corresponding to a reference power, wherein said reference power is comprised between a first power required to keep the propeller rotating in a right direction and a second power required to keep the propeller rotating in a wrong direction, which is opposed to the right direction.

Abstract: A control system (200) of an electric machine (80) includes a position sensor (51) configured to detect the angular position of a rotor of the electric machine (80); at least two alternate current sensors (52), each one of the alternate current sensors (52) being configured to detect the value of the alternate current (ia, ib, ic) to an input phase to the electric machine (80), and being electrically connected to a phase of the supply circuit of the electric machine (80), the electric machine (80) being electrically connected to an inverter (60) configured to transform a continuous voltage supplied by the electric supply means into an alternate voltage for a power supply of the electric machine (80); and a measuring circuit (100) of a voltage of an electric machine.

Abstract: A motor drive receives a position feedback signal from an encoder operatively connected to a motor. The motor drive executes multiple position determination modules to determine multiple approximate motor shaft positions. On each iteration of a position determination module, the motor drive samples the feedback signal, increments a pulse counter when a new encoder pulse is received, adds the pulse counter to a high-resolution pulse counter register, and calculates an approximate motor position as a function of the value of the high-resolution pulse count register. The motor drive averages the multiple approximate positions, and the result is used by a speed regulator module executed on the same motor drive to achieve the desired operation of the motor. The speed regulator iterates at a slower rate than any of the multiple position determination modules.

Abstract: Systems and methods are provided for protecting a door system from damage by a back electromotive force (EMF) voltage generated when a door coupled to a door actuator is manually closed. The door system may include a driver configured to drive the door actuator to move the door, and a back EMF protection circuit. The back EMF protection circuit detects a back EMF voltage generated by the door actuator when the door is moved, and determines whether the back EMF voltage exceeds an overvoltage threshold. In response to determining that the back EMF voltage exceeds the overvoltage threshold, the back EMF protection circuit causes the driver to transition to an enabled state to short the back EMF voltage to ground.

Abstract: A method of operating a power tool having a motor and a controller is provided. The method includes: setting a protection time limit associated with a condition of the motor; taking protective action to shut down the motor if the condition of the motor persists for a duration of the protection time limit; and in response to occurrence of the condition during a start-up period of operation of the motor, extending the protection time limit for a duration of a constant-clutch time period to allow an output speed of the motor to reach or exceed a speed threshold, and taking protective action to shut down the motor if the output speed of the motor remains below the speed threshold for the duration of the constant-clutch time period.

Abstract: A system for driving an actuator which is capable of providing constant resolution regardless of a type of an actuator according to an aspect of the present invention includes an actuator driving circuit configured to generate a driving current for an operating actuator and output the generated driving current to the operating actuator, a current sensing unit configured to sense a current of the operating actuator and generate a sensing signal, and a gain adjustment unit configured to calculate a gain on the basis of a first maximum driving current range of the operating actuator and a second maximum driving current range of a reference actuator and change the sensing signal on the basis of the gain. A signal generated based on the second sensing signal is input to the actuator driving circuit.

Abstract: A propulsion control device includes: a first wire connectable to a power line supplied with direct-current power or a ground line connected to a reference potential; a second wire connectable to the power line or the ground line; and a brake chopper circuit in which a first switching element to which a first diode is connected in parallel and a second switching element to which a second diode is connected in parallel are connected in series, and in the brake chopper circuit, one end of the first switching element is connected to the first wire, another end of the first switching element is connected to one end of the second switching element at a connection point, another end of the second switching element is connected to the second wire, and the connection point is connected to the first wire or the second wire via a brake resistor.

Abstract: A vehicle drive system includes a battery, at least one drive motor, inverter circuits, a step-up circuit, and a switch. The inverter circuits are configured to drive the at least one drive motor. The step-up circuit is connected between the battery and the inverter circuits. The switch is configured to switch a connection state of the inverter circuits to the step-up circuit between series connection and parallel connection.

Abstract: A device estimates the electromagnetic torque of a three-phase synchronous electric machine including permanent magnets. The device includes: a first flux estimator including two integrators of electromotive force for estimating the respective components of the flux in a fixed two-phase coordinate system tied to the stator, an estimator for estimating the torque from the respective estimated-flux components, a second flux estimator that uses currents expressed in a rotating two-phase coordinate system tied to the rotor, with an observer for determining variables that characterize magnetic uncertainties of the machine with a view to correcting the flux estimation of the second estimator, and a detector for generating a signal for resetting initial flux conditions of the two integrators based on the flux estimation delivered by the second estimator, when the discrepancy between the estimated torque and a setpoint torque is higher than a predefined threshold.

Abstract: A phase adjustment method for a rotation angle sensor configured to detect a rotation angle of a rotor of a brushless motor, the phase adjustment method including: measuring a first rotation speed and a second rotation speed when the brushless motor is driven with a same torque command current to rotate clockwise and counterclockwise, respectively, on a basis of the rotation angle of the rotor detected by the rotation angle sensor; and calculating a correction value to correct a phase of the rotation angle sensor so that a rotation speed difference between the first rotation speed and the second rotation speed decreases.

Abstract: Provided is an actuator, the actuator comprising: an actuator body and a control device that includes a circuitry configured to supply a main driving current pulse and a sub-driving current pulse to the coil, both of which are driving current pulses for driving the operation device in one direction in a vibrating direction thereof, in accordance with a touch operation of an operation device supported so as to be elastically vibrated, the main driving current pulse being capable of starting an elastic vibration, the sub-driving current pulse being capable of adjusting attenuation period of the elastic vibration after the starting the elastic vibration, and polarities of the main driving current pulse and the sub-driving current pulse being all identical.

Abstract: Proposed is a method of diagnosing abnormality of sensorless control of a motor for an air compressor, the method including estimating a speed of a motor in real time when a motor starts determining whether or not a preset condition for activating a function of diagnosing abnormality of sensorless control is satisfied, from a slope of the estimated speed of the motor performing control for decreasing an amount of electric current to be applied to the motor, in a case where the preset condition is satisfied computing an amount of decrease in the slope of the estimated speed of the motor while the amount of the electric current is decreased; and determining whether or not the sensorless control fails, by comparing the amount of the decrease in the slope of the speed of the motor with a preset value for confirming diagnosis of the abnormality of the sensorless control.

Abstract: A motor controller configured to be coupled to a motor that is coupled to a fan is described. The motor controller includes a processor coupled to a memory, and is configured to operate the motor in a first operating mode in which the motor rotates the fan in a first direction at a first speed. The motor controller is further configured to operate the motor in a restriction detection mode in which the motor rotates the fan in a second direction that is opposite the first direction, determine a torque associated with the motor while the motor is rotating the fan in the second direction, determine that the torque is not within a predefined threshold range in the memory, and determine that a restriction exists in a fluid flow path associated with the motor in response to determining that the torque is not within the predefined threshold range.

Abstract: The disclosure relates to a power supply device for a motor protector and a power supplying method thereof. The motor protector receives power. The power supply device comprises: a first power supplying unit, configured to receive and store the power and supply power to a tripping device of the motor protector; a second power supplying unit, configured to receive the power and supply power to a calculation and control device of the motor protector; a third power supplying unit, configured to receive and store the power and supply power to a reclosing device of the motor protector; and a control unit, configured to control an order in which the first power supplying unit, the second power supplying unit and the third power supplying unit receive the power.

Abstract: A patient transport apparatus for transporting a patient over a floor surface is described herein. The patient transport apparatus includes a throttle assembly, an auxiliary wheel assembly including an auxiliary wheel, an auxiliary wheel drive system, and a control system for operating the auxiliary wheel drive system based on user commands received from the throttle assembly. The control system includes a controller configured to detect a position of the throttle assembly, determine a desired rotational speed value associated with a current operating throttle position, determine a current rotational speed of the auxiliary wheel, select an acceleration rate based on the current rotational speed of the auxiliary wheel, generate an output signal based on the selected acceleration rate, and transmit the generated output signal to the motor control circuit to operate the motor to rotate the auxiliary wheel at the selected acceleration rate.

Abstract: A voltage command estimator is configured to estimate a minimum required variable DC bus voltage based on the first direct-axis current/voltage command, the first quadrature-axis current/voltage command, the second direct-axis current/voltage command, and the second quadrature-axis current/voltage command for a respective time interval. The voltage command estimator is configured to provide the estimated minimum required variable DC bus voltage to a voltage regulator to adjust the observed voltage level of the variable DC voltage bus to the estimated minimum required variable DC bus voltage to maintain the operation, as commanded by the voltage/current commands, of the first electric machine under the first variable load and the second electric machine under the second variable load at the time interval.

Abstract: A motor assembly may include a stator; a first inverter unit for controlling a three-phase alternating current which is applied to a first coil in order to generate a rotation magnetic field; and a second inverter unit for controlling a three-phase alternating current which is applied to a second coil in order to generate a rotation magnetic field. Control signals for turning on and off the three-phase alternating currents applied to the first coil and the second coil are generated so as to be left-right symmetric by the first inverter unit and the second inverter unit during a preset switching cycle.

Abstract: An energy conversion apparatus includes: a first switch module, a motor inverter having a first bus terminal connected with a first end of a battery and a second bus terminal connected with a second end of the battery through the first switch module, a motor winding having a first end connected with a midpoint end of the motor inverter, and a second switch module and a first capacitor connected in series. A first end of the serial-connected second switch module and the first capacitor is connected with a second end of the motor winding. A second end of the serial-connected second switch module and the first capacitor is connected with the second bus terminal.

Abstract: A rotating electrical machine control device is applied to a system including a power conversion circuit electrically connected to a rotating electrical machine, and a capacitor electrically connected to an input side of the power conversion circuit. The rotating electrical machine control device includes a determination unit that determines a switching mode of the power conversion circuit in which a ripple current flowing through the capacitor is reflected, based on an operating area of the rotating electrical machine, and an operation unit that operates the power conversion circuit such that the switching mode of the power conversion circuit is the switching mode determined by the determination unit.