Abstract: The invention relates to a technical stage device (1), comprising a fastening element (2), a bearing element (3) and a functional element (4), in particular a camera or a spotlight, wherein the functional element (4) is arranged on the bearing element (3) so as to be pivotable about a tilt axis (14) and wherein the bearing element (3) is arranged on the fastening element (2) so as to be rotatable about a pan axis (13), wherein a position determination arrangement is provided, which is designed in such a way that a relative movement between the bearing element (3) and the fastening element (2) as well as between the bearing element (3) and the functional element (4) can be determined. Further, the invention relates to a method for determining the correlation function of predetermined tilt and pan values of a functional value (4), in particular a camera or a spotlight, to absolute motion values of the functional element (4).

Abstract: A servo motor controller capable of eliminating inconvenience that the position of a shaft or the like of a servo motor is detected or set erroneously due to influence of noise or the like is provided. A servo motor controller that detects Z-phase signals of an incremental-type encoder that detects rotation of a servo motor to perform driving control of the servo motor includes: a position detection unit that detects a reference position of a rotating shaft of the servo motor on the basis of the Z-phase signal of the encoder; a signal interval detection unit that measures intervals of a plurality of detected Z-phase signals; and an abnormality determination unit that determines that the Z-phase signal is abnormal when the interval measured by the signal interval detection unit is equal to or larger than a prescribed threshold.

Abstract: A method for controlling an image stabilization apparatus includes detecting a motion status of a handle of the image stabilization apparatus. A rotation of the handle is controlled by a rotary axis motor of the image stabilization apparatus. The method further includes controlling the rotary axis motor to stop rotating in response to the motion status of the handle being a free status in which the handle is not fixed and one portion of the image stabilization apparatus other than the handle is fixed.

Abstract: A method for controlling a gimbal includes detecting a motion state of a motion of the gimbal, comparing the motion state to a preset threshold, and controlling the gimbal to move along a moving direction of the motion or to move in an opposite direction to the moving direction oldie motion based on the comparison.

Abstract: A method for controlling a gimbal includes detecting a motion state of a motion of the gimbal, comparing the motion state to a preset threshold, and controlling the gimbal to move along a moving direction of the motion or to move in an opposite direction to the moving direction oldie motion based on the comparison.

Abstract: In the drive device for a three-phase synchronous motor, if one of the two rotational position detectors is defective, it is necessary to identify the rotational position detector having abnormal output and is in the detective state. To do this, three or more rotational position detectors are required, which increases costs of the rotational position detectors. By comparing the outputs of two rotational position detectors, an abnormality of ether one of the two detectors is detected. The abnormal detector is identified with the use of rotational position estimating means. The drive of the three-phase synchronous motor is controlled with the use of the output ? of the properly functioning one of the first and second rotational position detectors.

Abstract: A payload stabilizer and methods for stabilizing a payload suitable for use with video camera payloads. The stabilizer has a feedback system providing supplemental torques to the payload through a gimbal.

Abstract: A device sod a method for measuring servo gear idle position are provided. The method includes: outputting a start-up fixed force of a first rotation direction to an output shall of a servo under test, and recording a value of a start-up position of the output shaft when a position of a rotor of the servo under test changes for the first time; outputting a counterrotation force of a second rotation direction for rotating the output shaft to the output shaft, and recording a value of an counterrotation position of the output shaft when the rotor is in a stop status after a predetermined interval; and calculating a value of a servo gear idle position in a current measuring point, the value of the idle position is the absolute value of the difference between the value of the start-up position and the value of the counterrotation position.

Abstract: A microcomputer of a drive control device for controlling the driving of a brushless motor has a positioning part and a torque acceleration control unit. The positioning unit controls the power to be supplied to the windings, to thereby position the rotor at a drive start position which is a position of the rotor relative to the stator at which the drive control of the brushless motor can start, before starting the drive control of the brushless motor. The torque acceleration control unit controls the power to be supplied to the windings so that a torque acceleration falls within a predetermined range that the collision stress generated when the outer wall of the end of the shaft collides with the inner wall of the hole of an impeller (rotating member) is equal to or smaller than a predetermined value, when the rotor is positioned.

Abstract: Method, device, and apparatus for a gimbal parameter adjustment are provided. An exemplary method includes: controlling a supply of power to a motor upon detection of a gimbal parameter adjustment event, recording rotational angular velocity data of a gimbal axis controlled by the motor at respective time points, calculating angular acceleration data at the respective time points based on the rotational angular velocity data, determining a peak frequency within a predefined frequency band after performing a frequency conversion on the angular acceleration data, and configuring the peak frequency as a trap frequency of the motor to filter out a signal sending to the motor and having a frequency of the trap frequency.

Abstract: The present invention discloses a method for controlling a gimbal used to carry a load. The method comprises: detecting a motion state of the gimbal or the load; determining whether a motion of the gimbal or the load is a user-intended motion according to the motion state; controlling the gimbal to move the load in an opposite direction to a moving direction of the motion if the motion is not a user-intended motion, thereby maintaining the load in an original posture; and controlling the load by the gimbal to move along a moving direction of the user-intended motion if the motion is a user-intended motion. The present invention also discloses a system for controlling a gimbal corresponding to the method for controlling a gimbal.

Abstract: A method of accommodating a payload and determining a working environment in a robotic system is disclosed. The method is directed to using a motor current measurement taken at the axis motors of a robotic system to calculate various parameters including payload balance, mass, moment of inertia, friction force and traction force. This measurement is based on the known relationship between motor current and motor torque.

Abstract: Some embodiments disclosed herein are directed to a pump assembly comprising a voice coil, a magnet and a diaphragm, wherein the voice coil is configured to move the diaphragm to pump a fluid through the pump assembly in response to a drive signal applied to the voice coil. Some embodiments disclosed herein are directed to an apparatus for applying negative pressure to a wound comprising a source of negative pressure configured to be coupled to a dressing, the source of negative comprising a voice coil actuator and a diaphragm, and a controller configured to produce a drive signal for the voice coil actuator.

Abstract: A control apparatus for a motor having a rotor includes a resolver, a processor, a decoder, a sensor, and a motor driver. The resolver outputs waveforms sensed from a rotation of the rotor. The decoder generates an absolute angle signal and an incremental angle signal in response to the waveforms from the resolver and provides the absolute angle signal and the incremental angle signal to the processor. The sensor estimates a positioning angle of the rotor and provides an estimated angle signal in response to the positioning angle of the rotor to the processor. When one of the absolute angle signal, the incremental angle signal, and the estimated angle signal is transmitted to the processor, the processor executes a predetermined program associated with the respective absolute angle signal, the incremental angle signal, and the estimated angle signal, to control the motor driver to rotate the rotor.

Abstract: Some embodiments disclosed herein are directed to a pump assembly comprising a voice coil, a magnet and a diaphragm, wherein the voice coil is configured to move the diaphragm to pump a fluid through the pump assembly in response to a drive signal applied to the voice coil. Some embodiments disclosed herein are directed to an apparatus for applying negative pressure to a wound comprising a source of negative pressure configured to be coupled to a dressing, the source of negative comprising a voice coil actuator and a diaphragm, and a controller configured to produce a drive signal for the voice coil actuator.

Abstract: A modularized control circuit of a fan motor is used to provide a phase-sensing control to the fan motor. The modularized control circuit includes a driving circuit and a microcontroller IC. The driving circuit is electrically connected to the fan motor to produce a plurality of analog driving voltage signals to drive the fan motor. The microcontroller IC is connected to the driving circuit and includes a phase-sensing module, a control unit, and a driving signal generator. The phase-sensing module receives the analog driving voltage signals to sense phases thereof and to produce a phase trigger signal. The control unit is connected to the phase-sensing module and receives a speed signal and the phase trigger signal to produce a control signal. The driving signal generator is connected to the control unit and receives the control signal to produce at least one switch driving signal to control the driving circuit.

Abstract: Systems and methods are provided for supporting and articulating a payload using stabilization platform. The stabilization platform may be configured to avoid gimbal lock. The stabilization platform may be configured to automatically transition between different modes of orientation.

Abstract: The driving apparatus includes: driving unit driving driven unit; controller controlling the driving unit; portion to be detected in which first areas and second areas are arranged alternately; and detector that detects the first and second areas. The portion includes, on one side of base position in a moving direction, first areas having small width and second areas having different widths larger than the first areas on the one side, and includes, on the other side, second areas having small width and first areas having different widths larger than the second areas on the other side. When moving the driven unit to specific position, the driven unit is driven in direction determined according to an area detected by the detector when starting the operation, and reverses the direction if the driven unit is moved by a predetermined amount or larger in the area after the detection area is changed.

Abstract: An electric motor system includes a brushless direct-current motor, a driver circuit, a position sensor, and a control circuit. The motor has an output shaft for transmitting torque. The driver circuit supplies power to the motor according to a control signal input thereto. The position sensor measures an angular, rotational position of the motor shaft. The control circuit controls operation of the motor. The control circuit includes a position sensor terminal, a reference terminal, a differential calculator, a controller, and a gain adjuster. The position sensor terminal receives a feedback signal. The reference terminal receives a reference signal. The differential calculator generates an error signal representing a difference between the measured and targeted rotational positions. The controller generates the control signal based on the error signal through a combination of control actions. The gain adjuster is connected to the controller to adjust a gain of each control action.

Abstract: A method is provided of calibrating a position sensor of an electric motor of a vehicle.

Abstract: Disclosed are a method and system of controlling anti-jerk for reducing vibration of an electric vehicle using power of a motor. The method includes outputting an actual speed of the motor; outputting a model speed of the motor; obtaining a vibration component based on a deviation between the output motor speed and actual speed of the motor; high pass filtering the vibration component to remove an error component in the vibration component; delaying a phase of the filtered vibration component for a preset time to compensate for phase error occurring during the high pass filtering; and applying a preset gain to the vibration component in which the phase is delayed for the preset time to generate an anti-jerk compensation torque based on the applying of the preset gain.

Abstract: Embodiments of the invention compensate for one or more effects of a stage motor in a precision stage device. A feedforward module receives an input signal corresponding to the effect of the motor and generates a feedforward control signal that can be used to modify a motor control signal to compensate for the effect of the motor. In some embodiments, a control system is provided to compensate for a back-electromotive force generated by a motor, while in other embodiments, a control system may compensate for an inductive effect of a motor. Embodiments of the invention may be useful in precision stage devices, for example, lithography devices such as steppers and scanners.

Abstract: Hobby servo motor linear actuator systems are provided. In certain circumstances, a linear actuator system includes a lead screw attachment mechanism and a lead nut. The lead screw attachment mechanism is configured to be rotatably connected to an output shaft of a hobby servo motor assembly. The lead nut is configured to move linearly along the lead screw attachment mechanism as it is rotated. The system is optionally either open-looped or closed-loop. The lead screw attachment mechanism has an outer surface that can include multiple different types of threads such as, but not limited to, gear teeth and screw threads. The hobby servo motor assembly may include one hobby servo motor or multiple hobby servo motors that work together.

Abstract: A motor control apparatus includes a power conversion unit which supplies drive power to a motor, a current detection unit which detects the value of a current flowing from the power conversion unit to the motor, a delta-sigma modulation AD converter to which the current value detected by the current detection unit is input as analog data, and which includes a modulator and a plurality of digital low-pass filters and outputs digital data in accordance with the filter characteristics of the respective digital low-pass filters, and a command generating unit which is connected to the digital low-pass filter to be used for motor drive control among the plurality of digital low-pass filters, and which generates a drive command to the power conversion unit by using the digital data output from the motor drive controlling digital low-pass filter.

Abstract: Systems and methods for estimating an inertia and a friction coefficient for a controlled mechanical system are provided. In one or more embodiments, an inertia estimator can generate a torque command signal that varies continuously over time during a testing sequence. The velocity of a motion system in response to the time-varying torque command signal is measured and recorded during the testing sequence. The inertia estimator then estimates the inertia and/or the friction coefficient of the motion system based on the torque command data sent to the motion system and the measured velocity data. In some embodiments, the inertia estimator estimates the inertia and the friction coefficient based on integrals of the torque command data and the velocity data.

Abstract: An exemplary stage apparatus has a motor, stage, and position-measuring device. The motor has a planar stator and moving-coil mover (planar motor). The stator is a checkerboard magnet array extending in an x-y plane and producing a magnetic field having a field period of 2? in a u-v coordinate system rotated 45° from the x-y coordinate system of the plane. The stage, coupled to the mover, moves with corresponding motions of the mover relative to the stator. The position-measurement device includes a first group of four magnetic-field sensors that are movable with the stage. The sensors are situated at integer multiples of ?/2 from each other in u- and v-directions of the u-v coordinate system. The sensors produce respective data regarding a respective component of the magnetic field at, and hence the position of, the respective sensor within the period of the magnetic field.

Abstract: Presented is a system and method for controlling an actuator in a multirate control system using an integrated upsampler and filter, comprising an incremental command limiter for changing a command from a first control system into a limited incremental command in a second control system, a lead-lag filter for filtering the limited incremental command to attenuate high frequencies, and a feed forward path for reducing phase loss in rate output signal at low frequencies. In embodiments, a command position signal received at the sampling rate of the first control system is interpolated into incremental command position signals at the sampling rate of the second control system. Position error signals and rate error signals from the devices being controlled are used as feedback to further stability the control loops.

Abstract: A motor speed determining circuit determining a rotation speed of a motor is provided and a processing of generating motor driving waveform is switched in accordance with the rotation speed of the motor. A resolver signal outputted from a resolver 2 is converted to a digital value by an R/D converter 3, and inputted to a computing circuit of resolver value correction 5 via an R/D conversion interface 4. A current value of a motor M is converted to a digital value by an A/D convertor 8. The computing circuit of resolver value correction 5 computes a resolver correction value of the inputted digital signal and calculates positional data from a corrected resolver value. The computing circuit of motor control computes a current instruction value from a motor current value subjected to digital conversion by the A/D converter 8 and a motor current instruction value etc.

Abstract: Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.

Abstract: A driving method for driving a polyphase inverter includes: receiving a reference input that includes a fundamental frequency component, and a previously generated feedback signal; generating an error signal that corresponds to a difference between the reference input and the previously generated feedback signal; attenuating the error signal to the minimum; generating an optimum signal; quantizing the optimum signal; and generating driving signals that correspond to the quantized optimum signal. A driving device that implements the driving method is also disclosed.

Abstract: A turning drive control apparatus that controls a drive of a turning mechanism of a construction machine driven to turn by an electric motor, includes: a drive command creation part that creates a drive command to drive the electric motor based on an amount of operation input through an operation part of the construction machine; a turning motion detection part that detects a turning motion of the turning mechanism; and a drive command correction part that corrects the drive command, when a turning motion in a direction opposite to a turning operation direction input to the operation part is detected by the turning motion detection part, to suppress the turning motion in the direction opposite to the turning operation direction in response to a degree of the turning motion in the direction opposite to the turning operation direction.

Abstract: An actuator system for operating a flap valve in a motor vehicle, comprising: a drive system having an electronically commutated electric motor; a movable actuating member; a mechanism that couples the drive system to the actuating member so that a displacement of the actuating member is brought about upon activation of the drive system; a position sensor for sensing a position of the actuating member on the actuating member or in the mechanism, and for making available a corresponding position indication; a control unit to activate the drive system to move the actuating member, the electric motor of the drive system being electronically commutated, the control unit being configured to make available to the electric motor, in order to move the actuating member, activation signals dependent on the position indication made available, which signals bring about a predefined drive torque or a predefined rotation speed of the electric motor.

Abstract: A motor control circuit for a motor is provided. The motor control circuit drives the motor based on torque command data. The torque command data is output by adding speed error data output from a speed error detecting section based on a first reference clock and a speed pulse and phase error data output from a phase error detecting section based on a second reference clock and the speed pulse. Each of the speed error data and the phase error data is output within a detection range set by a setting section provided for each of the speed error detecting section and the phase error detecting section.

Abstract: A servo motor control apparatus has a feedback loop. When an oscillation detection signal indicates no detection of oscillation, a parameter operating section gives an updating section an operational instruction to set a control parameter in accordance with a supplied set value. When the oscillation detection signal indicates detection of oscillation, the parameter operating section gives the updating section an operational instruction to set such a control parameter as to narrow a frequency band width of the feedback loop.

Abstract: Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.

Abstract: A signal processor includes an AD converter that converts a periodic analog signal output from a detector in accordance with a position Q of a motor to a digital signal at a predetermined conversion period, a tracking circuit that calculates a position P of the motor at an arithmetic period on the basis of the digital signal that is converted and output at the conversion period by the AD converter, an operation state identifier that identifies an operation state of the motor on the basis of the position P of the motor calculated by the tracking circuit, and an arithmetic period determiner that changes the arithmetic period of the tracking circuit in accordance with the operation state of the motor identified by the operation state identifier such that the position P of the motor calculated by the tracking circuit follows the actual position Q of the motor.

Abstract: The driving apparatus includes: driving unit driving driven unit; controller controlling the driving unit; portion to be detected in which first areas and second areas are arranged alternately; and detector that detects the first and second areas. The portion includes, on one side of base position in a moving direction, first areas having small width and second areas having different widths larger than the first areas on the one side, and includes, on the other side, second areas having small width and first areas having different widths larger than the second areas on the other side. When moving the driven unit to specific position, the driven unit is driven in direction determined according to an area detected by the detector when starting the operation, and reverses the direction if the driven unit is moved by a predetermined amount or larger in the area after the detection area is changed.

Abstract: A control arrangement for an electric drive with a control which processes desired values and actual values of the electric drive in relation to a desired-actual control is provided. A determination device determines a derived variable in an iterative manner in accordance with the actual values and the derived variable is fed to an evaluation device. The evaluation device associates the derived variables with position values of the drive and determines, after accumulating several derived variables, characteristic values of a systematic error in the desired values and/or the actual values. In accordance with the determined characteristic values, the evaluation device determines correction values and switches the correction values to the desired values, the actual values or the difference of desired and actual values.

Abstract: A windshield wiper control unit that controls a windshield wiper based on the position of an operation member, includes: an electric value detection unit that detects an electric value that continuously changes based on the position of the operation member; a setting unit that sets a reference electric value range that is a portion of a variation range of the electric value; a determination unit that determines whether the electric value detected by the electric value detection unit falls within the reference electric value range; and a position determination unit that determines the position of the operation member based on the reference electric value range. When the detected electric value falls outside the reference electric value range, the reference electric value range is updated in such a manner that the electric value, which falls outside the pre-update reference electric value range, falls within the post-update reference electric value range.

Abstract: A controller estimates Coulomb friction itself together with inertia and viscous friction, and reduces the influence of the Coulomb friction on the accuracy of the estimated inertia. In addition, the controller estimates inertia, viscous friction and Coulomb friction simultaneously with sequential adaptation in which a Fourier transformer is not used but an inverse transfer function model is used in order to minimize the estimated error. Data sampled for a predetermined time need not be accumulated, as a result, a large amount of data memory is unnecessary.

Abstract: A servo motor control apparatus having a feedback loop includes: an oscillation detecting section, which detects oscillation of the feedback loop, to output an oscillation detection signal; a parameter operating section, which gives an operational instruction to set a control parameter in the feedback loop based upon the oscillation detection signal; and an updating section, which is supplied with a set value for setting a control parameter, and sets the control parameter in the feedback loop while making an update thereon in accordance with the operational instruction given by the parameter operating section, wherein when the oscillation detection signal indicates no detection of oscillation, the parameter operating section gives the updating section an operational instruction to set a control parameter in accordance with the supplied set value, and when the oscillation detection signal indicates detection of oscillation, parameter operating section gives the updating section an operational instruction to se

Abstract: An apparatus for use with a flight control actuator and method for assembling the same is provided. The apparatus includes a motor drive system and a control unit. The motor drive system includes a capacitor-based energy storage configured to store and provide energy within or proximate to the actuator. The control unit is coupled to the motor drive system and is configured to facilitate managing power within or proximate to the actuator.

Abstract: A method of processing a resolver fault in a motor generator unit (MGU) includes receiving a position signal from a resolver describing a measured angular position of a rotor of the MGU, determining the presence of the resolver fault using the position signal, and calculating or extrapolating an estimated rotor position when the resolver fault is determined. A predetermined resolver fault state may be determined using a measured duration of the resolver fault, and the MGU may be controlled using the estimated rotor position for at least a portion of the duration of the resolver fault. A motor control circuit is operable for processing the resolver fault using the above method, and may automatically vary a torque output or a pulse-width modulation (PWM) of the MGU depending on the duration of the resolver fault.

Abstract: A hand-held or vehicle-mounted stabilization system including a platform supported by two or more rotatably-coupled gimbal frames each having a pivot assembly disposed at its rotation axis to couple an actuator to a rotation sensor having a rotation-sensitive sensor axis that is preferably fixedly disposed with respect to the rotation axis, and a controller for accepting the sensor signals and for producing each motor signal needed to dispose the platform in a predetermined angular position with respect to each rotation axis independent of changes in mount orientation. An alternative embodiment includes a controller for accepting an external slew signal sequence and for producing the motor signals needed to move the platform along a predetermined sequence of positions represented by the slew signal sequence.

Abstract: A method for determining a commutation offset for a mover (250A) of a mover assembly (220C) that moves and positions a stage (220A) relative to a stage base (220B) includes controlling the mover assembly (220C) in a closed loop fashion to maintain the position of the stage (220A) along a first axis and along a second axis with the stage (220A) levitated above the stage base (220B). The method also includes the steps of (i) directing current to a coil array (240) of the mover assembly (220C) so that the mover assembly (220C) imparts a disturbance on the stage (220A); and (ii) evaluating one or more forces generated by the mover assembly (220C) as a result of the disturbance on the stage (220A) created by the mover (250A). Further, a method for generating a compensation map (1402) includes sequentially directing a plurality of excitation signals to the control of the mover assembly (220C) and determining the control commands that result from the plurality of excitation signals.

Abstract: A method is provided for adapting controller parameters of a drive to different operating states. A control loop includes a PID controller whose I gain factor is adapted to a drive velocity and/or whose D gain factor is adapted to a drive current, and consequently to a drive load. The I gain factor is determined based on the drive velocity and the D gain factor is determined based on the drive current, in each case at least in one area, the I gain factor falling with the drive velocity and the D gain factor rising with the drive current.

Abstract: A motor rotation irregularity detection circuit includes a first integrator for integrating a rotation detection signal that is output from a driver of a sensor-less motor; a differentiator for outputting a difference between a binary signal based on the integral in the first integrator and the rotation detection signal; a second integrator for integrating an output signal of the differentiator; a comparator for making a comparison between the integral in the second integrator and a reference voltage to output an irregularity detection signal; and an output terminal for outputting a signal coming from the comparator.

Abstract: A voltage detection section and current detection section detect a voltage and current supplied to a motor, and the detected voltage and current are supplied to a position detection section. An angular speed output from the position detection section is supplied to a differentiator to output an angular acceleration. A fundamental wave component extraction section extracts a fundamental wave component of the angular acceleration, and the extracted fundamental wave component is supplied to an amplitude adjustment section. The output of the amplitude adjustment section is subtracted from the average current command by a subtraction section. This subtraction result, current detection value, and the rotor position from the position detection section are supplied to a current control section to carry out the current control operation so as to obtain a current command.

Abstract: The present invention relates to a remote control (160) operates fail-safe. The remote control comprises a safety filter (150) in order to provide a fail save operation. The present invention also relates to an adjustable patient table (100) comprising a fail-safe wireless remote control for controlling an actuator to adjust the table.

Abstract: A motor control apparatus includes a steering column having inserted therein a steering shaft to which steering torque is transmitted, a reduction gear box coupled to the steering shaft, and an electric motor that transmits a steering assisting force to the steering shaft via a reduction mechanism in the reduction gear box. The electric motor and its control unit including a control board mounted with a control circuit, are provided side by side in the reduction gear box. A connection terminal of the electric motor is electrically connected to the control unit directly. This minimizes a connection distance between the control unit and the electric motor.