Method for controlling a redundant actuator with two partial actuators and actuator system with a redundant actuator having two partial actuators

A method for controlling a redundant actuator having two partial actuators, in particular a motor having two separate winding sets, via a control device, the method comprising:

• providing a control device comprising:
• a first actuator terminal connected to a first one of the two partial actuators,
• a second actuator terminal connected to a second one of the two partial actuators,
• a first converter module having a first converter,
• a second converter module having a second converter, and
• a third converter module, having a third converter,
• wherein connecting, in a first operating state:
• i) the first actuator terminal to the first converter and ii) the second actuator terminal to the second converter, and
• when a malfunction in the first converter module is identified, transitioning the control device to an insulation state in which:
• i) the first actuator terminal and the second actuator terminal are insulated from the first, second, and third converters and ii) a handshake communication between the first, second and third converter modules occurs, such that via the handshake communication, negotiation of which of the first, second, and third converters of the first, second, and third converter modules is or are to be connected to the first and second actuator terminals of the control device occurs.