Dual motor actuator and method of controlling the same

A dual motor actuator comprising:

• a main motor actuator outputting a torque to a main output shaft by comprising a main motor and a main reduction gear;
• an auxiliary motor actuator outputting a torque to an auxiliary output shaft by comprising an auxiliary motor and an auxiliary reduction gear;
• and
• a clutch connecting the main output shaft and the auxiliary output shaft to each other,
• wherein the clutch comprises a fixed clutch connected to the main output shaft and a movable clutch coupled to or released from the fixed clutch and connected to the auxiliary output shaft, and
• the dual motor actuator further comprises an output unit connected to the movable clutch and transmitting an output from the main motor actuator or the auxiliary motor actuator;
• wherein a capacity of the main motor is greater than a capacity of the auxiliary motor, and
• wherein a torque output of the main motor and a torque output of the auxiliary motor are set according to a equation below,
• T1=T2+(JC+J2){dot over (ω)}
• where, T1:
• a torque output of the main motor actuator, T2:
• a torque output of the auxiliary motor actuator, JC:
• a mass moment of inertia of the clutch, and, J2:
• a mass moment of inertia of the auxiliary reduction gear.