Abstract: A controller for a multiplex winding motor is obtained whereby when a plurality of multiplex winding motor is driven and controlled by a plurality of inverters, while each winding is composed of a current control system, interference between the current control systems of windings can be compensated. A plurality of voltage non-interacting arithmetic sections is provided for computing a voltage command value supplied to a plurality of voltage applying sections, which are connected to a set of windings, not only by using an output value of a current control section for controlling current in the winding but also using an output value of a current control section 6b for controlling current in another winding, so that voltage interference between the current control sections is compensated.

Abstract: The variable air-gap type driving detector of the present invention for obtaining low speed and high torque outputs required to drive, for example, joints of industrial robots is provided with an elastic supporting means 22, whose one end is supported on a base stand 21 , for supporting a rotor 5 so as to restrain the rotor 5's autorotation; and an eccentric supporting meals, whose rotation shaft 23b is supported on the base stand 21 in a freely rotatable state, and an outside of whose eccentric shaft 23a is supported inside the motor 5, and further whose rotation shaft 23b rotates with the revolution of the rotor 5; and the driving device of the invention becomes simple in structure and small in size by being composed of using no cranks or only a crank.