A dual motor actuator according to an embodiment includes a main motor actuator outputting torque to a main output shaft by including a main motor and a main reduction gear, an auxiliary motor actuator outputting torque to an auxiliary output shaft by including an auxiliary motor and an auxiliary reduction gear, and a clutch connecting the main output shaft and the auxiliary output shaft to each other, wherein the clutch includes a fixed clutch connected to the main output shaft and a movable clutch coupled to or released from the fixed clutch and connected to the auxiliary output shaft, and the dual motor actuator further includes an output unit connected to the movable clutch and transmitting an output from the main motor actuator or the auxiliary motor actuator.

A force control method and system for multi-motor synchronization is provided. The force control method includes: acquiring a total desired force of a plurality of motors; calculating the desired force of each of the plurality of motors according to a characteristic of each of the plurality of motors; setting an external feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking a synchronization error of each of the plurality of motors as a feedback item of the external feedback loop; and setting an internal feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking an output force error of each of the plurality of motors as a feedback item of the internal feedback loop. The force control method and system ensures multi-motor synchronization under the premise of accurate force control.

A force control method and system for multi-motor synchronization is provided. The force control method includes: acquiring a total desired force of a plurality of motors; calculating the desired force of each of the plurality of motors according to a characteristic of each of the plurality of motors; setting an external feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking a synchronization error of each of the plurality of motors as a feedback item of the external feedback loop; and setting an internal feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking an output force error of each of the plurality of motors as a feedback item of the internal feedback loop. The force control method and system ensures multi-motor synchronization under the premise of accurate force control.

A dual motor system includes a first motor providing a lower speed range and a second motor providing a higher speed range, wherein the motors are coaxially arranged and aligned on and drive a common shaft, and a motor control system controlling the speed of the first motor and engaging the second motor as needed. The first motor provides a lower two-thirds of a full speed range, and the second motor provides the upper one-third in the form of one or more discrete fixed speeds. The system may also include a flow control system for automatically controlling the speed of the motors for particular applications, such as flow control in a pool.

A dual motor system includes a first motor providing a lower speed range and a second motor providing a higher speed range, wherein the motors are coaxially arranged and aligned on and drive a common shaft, and a motor control system controlling the speed of the first motor and engaging the second motor as needed. The first motor provides a lower two-thirds of a full speed range, and the second motor provides the upper one-third in the form of one or more discrete fixed speeds. The system may also include a flow control system for automatically controlling the speed of the motors for particular applications, such as flow control in a pool.