Consensus Based Parallel Operation of Electric Motors Ensuring Speed Regulation and Load Torque Sharing

This paper proposes a consensus based parallel operation scheme for multiple electric motor drive systems that are collectively driving a mechanical load. It is assumed that the rotors of the motors are mechanically coupled to the common output shaft subject to load torque. The objective is to regulate speed of the output shaft while allowing the motors to share the load torque fairly. Assuming that the drive systems are able to share their own information with one another through communication, a consensus based operation scheme is proposed. It is shown that both of speed error and load torque sharing dynamics are asymptotically stable under a mild condition. Simulation and experimental results are provided to show the validity of the proposed scheme.