Methods and apparatus to perform torque balance control of co-shafted motors
First Claim
1. A method comprising:
- measuring, by a linear position sensor, a linear position of a shaft connected to an aerodynamic control surface;
calculating, by executing an instruction with a processor, a first torque value based on first phase currents of a first motor that is directly coupled to the shaft;
calculating, by executing an instruction with the processor, a second torque value based on second phase currents of a second motor co-shafted onto the shaft with the first motor;
determining, by executing an instruction with the processor, a target linear position of the shaft based on the measured linear position;
determining, by executing an instruction with the processor, a first shared torque value based on the first calculated torque value and a first sharing factor associated with the first motor;
determining, by executing an instruction with the processor, a second shared torque value based on the second calculated torque value and a second sharing factor associated with the second motor;
determining, by executing an instruction with the processor, a torque error based on the first shared torque value and the second shared torque value;
determining, by executing an instruction with the processor, a first torque adjustment associated with the first motor based on the torque error and the target linear position;
determining a second torque adjustment associated with the second motor based on the torque error and the target linear position;
adjusting a first torque applied to the shaft from the first motor based on the determined first torque adjustment; and
adjusting a second torque applied to the shaft from the second motor based on the determined second torque adjustment.
1 Assignment
0 Petitions
Accused Products
Abstract
Methods, apparatus, systems and articles of manufacture to perform torque balance control of co-shafted motors are disclosed. An example method includes calculating a first torque value based on first phase currents of a first motor that is driving a shaft connected to a control surface, and calculating a second torque value based on second phase currents of a second motor that is driving the same shaft. The example method also includes determining a first shared torque value based on the first calculated torque value and a first sharing factor, and determining a second shared torque value based on the second calculated torque value and a second sharing factor. The example method also includes determining a torque error based on the first shared torque value and the second shared torque value, and determining a first torque adjustment associated with the first motor based on the torque error.
20 Citations
19 Claims
-
1. A method comprising:
-
measuring, by a linear position sensor, a linear position of a shaft connected to an aerodynamic control surface; calculating, by executing an instruction with a processor, a first torque value based on first phase currents of a first motor that is directly coupled to the shaft; calculating, by executing an instruction with the processor, a second torque value based on second phase currents of a second motor co-shafted onto the shaft with the first motor; determining, by executing an instruction with the processor, a target linear position of the shaft based on the measured linear position; determining, by executing an instruction with the processor, a first shared torque value based on the first calculated torque value and a first sharing factor associated with the first motor; determining, by executing an instruction with the processor, a second shared torque value based on the second calculated torque value and a second sharing factor associated with the second motor; determining, by executing an instruction with the processor, a torque error based on the first shared torque value and the second shared torque value; determining, by executing an instruction with the processor, a first torque adjustment associated with the first motor based on the torque error and the target linear position; determining a second torque adjustment associated with the second motor based on the torque error and the target linear position; adjusting a first torque applied to the shaft from the first motor based on the determined first torque adjustment; and adjusting a second torque applied to the shaft from the second motor based on the determined second torque adjustment. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. An apparatus comprising:
-
a processor system; a sensor to measure a linear position of a shaft connected to an aerodynamic control surface; and a memory communicatively coupled to the processor system, the memory including stored instructions that enable the processor system to; calculate a first torque value based on first phase currents of a first motor that is directly coupled to the shaft; calculate a second torque value based on second phase currents of a second motor that is co-shafted onto the shaft with the first motor; determine a target linear position of the shaft based on the measured linear position; determine a first shared torque value based on the first calculated torque value and a first sharing factor associated with the first motor; determine a second shared torque value based on the second calculated torque value and a second sharing factor associated with the second motor; determine a torque error based on the first shared torque value and the second shared torque value; determine a first torque adjustment associated with the first motor based on the torque error and the determined target linear position; determine a second torque adjustment associated with the second motor based on the torque error and the determined target linear position; adjust a first torque applied to the shaft by the first motor based on the determined first torque adjustment; and adjust a second torque applied to the shaft by the second motor based on the determined second torque adjustment. - View Dependent Claims (8, 9, 10, 11, 12, 18, 19)
-
-
13. A tangible machine-readable storage medium comprising instructions that, when executed, cause a processor to at least:
-
calculate a first torque value based on first phase currents of a first motor that is directly coupled to a shaft connected to an aerodynamic control surface; calculate a second torque value based on second phase currents of a second motor that is co-shafted onto the shaft with the first motor; determine a target linear position of a shaft based on a measured linear position of the shaft measured by a linear position sensor; determine a first shared torque value based on the first calculated torque value and a first sharing factor associated with the first motor; determine a second shared torque value based on the second calculated torque value and a second sharing factor associated with the second motor; determine a torque error based on the first shared torque value and the second shared torque value; determine a first torque adjustment associated with the first motor based on the torque error and the determined target linear position; determine a second torque adjustment associated with the second motor based on the torque error and the determined target linear position; adjust a first torque applied to the shaft by the first motor based on the determined first torque adjustment; and adjust a second torque applied to the shaft by the second motor based on the determined second torque adjustment. - View Dependent Claims (14, 15, 16, 17)
-
Specification