Abstract：In traditional dual-motor rigid gear drive system, the small differences in the physical parameters caused by the abration and deformation after running for a long time, will affect the torque balance of the two drive motors, and further affect the reliability of the whole system. To solve this problem, this paper presents a torque balance strategy based on cross-coupled control algorithm. In the proposed strategy, through the design of the torque synchronization controller, the torque control of the two drive motors can be considered as a whole. With the adjustment of the coupling synchronization coefficient, the cross feedbacks would compensate the reference torque in each motor separately, balancing the control of the output torques. The simulation and experimental results verify the correctness and effectiveness of the proposed control strategy.
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2017, Vol. 32 
