Abstract: A large capacity (1-2 MkVA) driving system for variable-speed-driving an AC motor by a power converter (inverter, converter) in which GTO (gate turn-off) thyristors are used as switching devices. In this system, high frequency GTO thyristors are connected in series, power converters are multiplexed, the AC motor is used in its plural phases, instantaneous spatial vector PWM (pulse width modulation) control is performed, vector control for the motor is performed, and a circuit for recovering snubber energy for GTO thyristors and a power factor adjusting circuit are provided. Thus, this driving system provides a torque ripple of 1% or less, speed response of 60 rad/sec or more, efficiency of 95% or more and a power factor of 98% or more.

Abstract: An actuator suitable for use in a joint device for driving a robot arm or in a subject follow-up device in a video camera, etc., is designed to have a mobility of a freedom of two degrees or more and is adapted to drive a movable part directly using first piezoelectric motor elements each of which consists of piezoelectric elements having a non-ring-like configuration and an elastic body and second piezoelectric motor elements each of which consists of at most one ring-like piezoelectric element and an elastic member. The actuator exhibits a simplified structure, is small and lightweight, provides a powerful driving power and has a wide range of mobility.

Abstract: In a speed detecting apparatus for detecting the rotational speed of a rotating body mechanically coupled thereto, an encoder generates one cycle of a sine-wave signal each time its angular position of rotation changes by a predetermined unit amount. A zero-crossing pulse is generated at each zero-crossing point of the sine-wave signal generated from the encoder, and the phase angle of the sine-wave signal is detected on the basis of the zero-crossing point of the sine-wave signal generated from the encoder. In a high speed range, the rotational speed is detected on the basis of the ratio between the number of zero-crossing pulses and the time interval between a first one and a last one of the plural zero-crossing pulses. On the other hand, in a low speed range, the rotational speed is detected on the basis of the combination of the number of the zero-crossing pulses appearing within a predetermined period of time and the phase angle of the sine-wave signal.