A modified pseudo inverse method for control allocation in electromechanical coupled systems

In this paper, a load sharing strategy based on control allocation with a modified pseudo inverse method is developed and used to generate virtual control inputs for the actuators of a flexibly coupled multi-motor system. The performance of the control allocation algorithm is compared with that of equal distribution. By taking into consideration copper, iron, mechanical and inverter losses, the proposed strategy yields high efficient operation of the overall system, efficient energy utilization, and keeps the operation of the system in case of failure thanks to the cooperative work of the motors.