METHOD FOR CONTROLLING INTERCONNECTED ELECTRIC MOTORS (VARIANTS) Russian patent published in 2008 - IPC H02P5/46 H02P5/69 

FIELD: electric engineering, possible use in rotary support devices of various purposes, metal-processing machines, metallurgy mechanisms, etc.

SUBSTANCE: control method includes creating main controlling effects of opposite sign for setting moving momentums of electric motors depending on the total of values of same-named coordinates of full state vectors of electric motors and on total mass coordinates and creating an additional control effect for each electric motor depending on full state vector of that electric motor, considering the combined mass to be immobile. Speed of generation of additional control effects is set to be unified and above the speed of generation of main control effects. To ensure static stabilization of braking momentum of electric motor, an additional control effect is generated depending on coordinate values of full state vector of that electric motor and integration component of its kinematic transmission resilience momentum. Main control effects are generated depending on the total of kinematic transmissions resilience momentum values and total mass coordinates. Speeds of generation of additional control effects are set above the speed of generation of main control effects. To control electric motors with highly different parameters, main control effects are generated depending on values of coordinates of full state vector of each electric motor and total mass coordinates.

EFFECT: increased reliability of electric motor operation, precise and fast action control of movement of common working organ based on electro-mechanical thrust principle in case of presence of resilient elements and gaps in kinematic transmissions from electric motors to total mass.

3 cl, 7 dwg