# US 2013/0157805 A1 · Dual pinion drive system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0157805 A1 - Document ID: US20130157805A1 - Status: Published application - Kind: A1 - Application number: 13/764,101 - Filed: 2013-02-11 - Published: 2013-06-20 - Earliest claimed: 2010-08-10 - Assignees: ABB Research Ltd. - Inventors: Robert Keller; Mehmet Mercangoez; Georgios Papafotiou - Web page: https://patentgrep.com/patent/US20130157805A1 ## CPC - G05D 17/02: characterised by the use of electric means - G05B 5/01: electric - H02P 5/46: for speed regulation of two or more dynamo-electric motors in relation to one another - H02P 5/50: by comparing electrical values representing the speeds - H02P 5/505: using equalising lines, e.g. rotor and stator lines of first and second motors - G05B 2219/41166: Adaptive filter frequency as function of oscillation, rigidity, inertia load - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## Abstract A system and method are disclosed for controlling electrical machines including a controller component which receives a first signal providing a measured parameter of the electrical machine and a second signal providing a reference parameter of the electrical machine, using the first and second signals being used to produce a first control signal. A first filter component receives the first signal from the electrical machine and uses the first signal to produce a second control signal. A second filter component receives a third signal which relates to a reference parameter of a second electrical machine and uses the third signal to produce a third control signal. The system and second control signals are used to produce a first output control signal for provision to the first electrical machine, and the first and third control signals are used produce a second output control signal for provision to the second electrical machine. ## Claims ### Claim 1 A control system for controlling a mechanical system having first and second electrical machines, the control system comprising: a controller component operable to receive a first signal which relates to a measured parameter of a first electrical machine and a second signal which relates to a reference parameter of the first electrical machine, the controller component being operable to use the first signal and the second signal to produce a first control signal; a first filter component operable to receive the first signal from the first electrical machine and to use the first signal to produce a second control signal; a second filter component operable to receive a third signal which relates to a reference parameter of a second electrical machine and to use the third signal to produce a third control signal; a first output component operable to receive the first control signal and the second control signal and to combine the first and second control signals to produce a first output control signal for provision to the first electrical machine; and a second output component operable to receive the first control signal and the third control signal and to combine the first and third control signals to produce a second output control signal for provision to the second electrical machine. ### Claim 2 (depends on 1) A control system as claimed in claim 1, wherein the first output control signal for provision to a first converter component operable to drive the first electrical machine. ### Claim 3 (depends on 1) A control system as claimed in claim 1, wherein the second output control signal is for provision to a second converter component operable to drive the second electrical machine. ### Claim 4 (depends on 1) A control system as claimed in claim 1, wherein the first signal is to comprise: a measured rotational speed of the first electrical machine. ### Claim 5 (depends on 1) A control system as claimed in claim 1, wherein the second signal is to comprise: a reference rotational speed. ### Claim 6 (depends on 1) A control system as claimed in claim 1, wherein the third signal is to comprise: a measured rotational speed of the second electrical machine. ### Claim 7 (depends on 1) A control system as claimed in claim 1, wherein the third signal is to comprise: a reference rotational speed. ### Claim 8 (depends on 1) A control system as claimed in claim 1, wherein the first output control signal is a torque command. ### Claim 9 (depends on 1) A control system as claimed in claim 1, wherein the second output control signal is a torque command. ### Claim 10 (depends on 1) A control system as claimed in claim 1, in combination with first and second electrical machines, each mechanically coupled to a load. ### Claim 11 (depends on 10) A control system as claimed in claim 10, wherein each mechanical coupling is a flexible coupling. ### Claim 12 (depends on 1) A control system as claimed in claim 1, in combination with first and the second electrical machines which each act upon a load, and wherein the first and the second electrical machines are mechanically coupled to one another via the load. ### Claim 13 (depends on 12) A control system as claimed in claim 12, wherein each mechanical coupling is a flexible coupling. ### Claim 14 (depends on 1) A control system as claimed in claim 1, in combination with n electrical machines, said control system comprising: a (n+1)th filter component operable to receive a (n+1)th signal which relates to a reference parameter of a nth electrical machine from that nth electrical machine and to use the (n+1)th signal to produce a (n+1)th control signal; and a nth output component operable to receive the first control signal and the (n+1)th control signal and to combine the first and (n+1)th control signals to produce a nth output control signal for provision to the nth electrical machine. ### Claim 15 A method for controlling a mechanical system having first and second electrical machines, the method comprising: receiving a first signal relating to a measured parameter of the first electrical machine; receiving a second signal relating to a first reference parameter of the first electrical machine; receiving a third signal relating to a measured parameter of a second electrical machine; producing a first control signal from the first and second signals using a controller component; producing a second control signal from the first signal using a first filter component; producing a third control signal from the third signal using a second filter component; producing a first output control signal from the first and the second control signals using a first output component; producing a second output control signal from the first and third control signals using a second output component; supplying the first output control signal to the first electrical machine; and supplying the second output control signal to the second electrical machine. ### Claim 16 (depends on 15) A method as claimed in claim 15, comprising: mechanically coupling each of the first and second electrical machines to a load. ### Claim 17 (depends on 15) A method as claimed in claim 15, comprising: mechanically coupling the first and second electrical machines to one another via a load, and wherein the first and the second electrical machines each act upon the load. ### Claim 18 (depends on 15) A method as claimed in claim 15, for controlling n electrical machines, wherein the method comprises: supplying a (n+1)th filter component a (n+1)th signal which relates to a reference parameter of a nth electrical machine from that nth electrical machine for producing (n+1)th signal to produce a (n+1)th control signal; and supplying a nth output component the first control signal and the (n+1)th control signal, for combining the first and (n+1)th control signals to produce a nth output control signal for provision to the nth electrical machine. ### Claim 19 A method of controlling a mechanical system which includes first and second electric motors that are mechanically coupled to one another, the method comprising: supplying control signals to the first and second electric motors using speed feedback and a self-tuned adaptive feedforward filter. ### Claim 20 (depends on 19) A method as claimed in claim 19, wherein the feedforward filter provides oscillation damping control for torque commands provided to the first and second electric motors connected via a dual pinion drive system.