# US 5,047,703 A · Motor driving device

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- Number: US 5,047,703 A
- Document ID: US5047703A
- Status: Granted
- Kind: A
- Application number: 07/426,560
- Filed: 1989-10-25
- Granted: 1991-09-10
- Earliest claimed: 1988-10-28
- Inventors: Koji Akamatsu
- Web page: https://patentgrep.com/patent/US5047703A

## CPC

- G05B 19/237: {with a combination of feedback covered by G05B19/232 - G05B19/235}
- G05B 2219/41034: Two motors driven in opposite direction to take up backlash
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

The present invention relates to a motor driving device wherein two motors are held in engagement with an identical spindle through respective torque transmission mechanisms, and wherein each of the motors has a driving amplifier for generating a torque in a direction reverse to that of a torque of the other motor; comprising an integration circuit which integrates with respect to time a difference signal between an angle command value of the spindle and a rotational angle feedback value thereof, and which applies its integral output to the driving amplifiers in common.

## Claims

### Claim 1

A motor driving device wherein two motors are held in engagement with an identical spindle through respective torque transmission mechanisms, and wherein each of the motors has a driving amplifier for generating a torque in a direction reverse to that of a torque of the other motor; comprising an integration circuit which integrates with respect to time a difference signal between an angel command value of said spindle and a rotational angle feedback value thereof, and which applies its integral output to the driving amplifiers in common, wherein the rotational angle feedback value of said spindle consists of a sum signal between velocity feedback signals of said two motors.