A drive device includes a first motor, a second motor, and circuitry. The first motor includes a first rotation detector and is configured to rotate a driven shaft to apply a driving torque to the driven shaft. The second motor includes a second rotation detector and is configured to rotate the driven shaft to reduce backlash between the first motor and the driven shaft. The circuitry is configured to control the first motor and the second motor, based on a detection signal of the second rotation detector.

The present invention relates to a rotor assembly where associated electric motors are configured to rotate the rotor, control the collective pitch of the rotor/assembly, and/or control the cyclic pitch of the rotor/assembly, by varying the relative rotational angle between two or more of the associated electric motors.

The present invention relates to a rotor assembly where associated electric motors are configured to rotate the rotor, control the collective pitch of the rotor/assembly, and/or control the cyclic pitch of the rotor/assembly, by varying the relative rotational angle between two or more of the associated electric motors.

Disclosed is a method for connecting an electric asynchronous machine of a powertrain to an electric grid. The powertrain has a machine driveshaft, the drive machine, a differential drive, and a differential transmission with three drives or outputs. One output connects to the driveshaft, a first drive connects to the drive machine, and a second drive connects to the differential drive. In a first phase, the drive machine starts up while one drive is simultaneously connected to the other drive or to the output, and the drive machine is separated from the grid. In a second phase, the drive machine connects to the grid, the connection between the one drive and the other drive or the output is separated, and the rotational speed of a drive/output is ascertained. The drive machine is connected to the grid if its rotational speed deviation from the grid frequency <±5.0%.

Disclosed is a method for connecting an electric asynchronous machine of a powertrain to an electric grid. The powertrain has a machine driveshaft, the drive machine, a differential drive, and a differential transmission with three drives or outputs. One output connects to the driveshaft, a first drive connects to the drive machine, and a second drive connects to the differential drive. In a first phase, the drive machine starts up while one drive is simultaneously connected to the other drive or to the output, and the drive machine is separated from the grid. In a second phase, the drive machine connects to the grid, the connection between the one drive and the other drive or the output is separated, and the rotational speed of a drive/output is ascertained. The drive machine is connected to the grid if its rotational speed deviation from the grid frequency <±5.0%.

The disclosure relates to a method for controlling a first electric motor (M1) and a second electric motor (M2) of a wheel drive module, wherein the wheel drive module comprises a wheel (R) and a speed modulation gearbox (G), and wherein the wheel (R) is drivable about a wheel axis (A) jointly by the first and the second electric motors (M1, M2) by means of the speed modulation gearbox (G) and steerable about a steering axis (L) which is orthogonal to the wheel axis (A), wherein electrical control signals for controlling the first and second electric motors (M1, M2) are determined from wheel reference values which characterize the driving and/or the steering of the wheel (R).

The disclosure relates to a method for controlling a first electric motor (M1) and a second electric motor (M2) of a wheel drive module, wherein the wheel drive module comprises a wheel (R) and a speed modulation gearbox (G), and wherein the wheel (R) is drivable about a wheel axis (A) jointly by the first and the second electric motors (M1, M2) by means of the speed modulation gearbox (G) and steerable about a steering axis (L) which is orthogonal to the wheel axis (A), wherein electrical control signals for controlling the first and second electric motors (M1, M2) are determined from wheel reference values which characterize the driving and/or the steering of the wheel (R).

The disclosure relates to a method for controlling a first electric motor (M1) and a second electric motor (M2) of a wheel drive module, wherein the wheel drive module comprises a wheel (R) and a speed modulation gearbox (G), and wherein the wheel (R) is drivable about a wheel axis (A) jointly by the first and the second electric motors (M1, M2) by means of the speed modulation gearbox (G) and steerable about a steering axis (L) which is orthogonal to the wheel axis (A), wherein electrical control signals for controlling the first and second electric motors (M1, M2) are determined from wheel reference values which characterize the driving and/or the steering of the wheel (R).

The disclosure relates to a method for controlling a first electric motor (M1) and a second electric motor (M2) of a wheel drive module, wherein the wheel drive module comprises a wheel (R) and a speed modulation gearbox (G), and wherein the wheel (R) is drivable about a wheel axis (A) jointly by the first and the second electric motors (M1, M2) by means of the speed modulation gearbox (G) and steerable about a steering axis (L) which is orthogonal to the wheel axis (A), wherein electrical control signals for controlling the first and second electric motors (M1, M2) are determined from wheel reference values which characterize the driving and/or the steering of the wheel (R).

In a method for operating a system with drives, which are mechanically coupled to one another, and with a higher-level computer, which is connected to the drives with the aid of a data-bus connection, and a system, a respective actual torque value is determined in each drive and transmitted to the higher-level computer, in particular using a data-bus connection. The higher-level computer determines for each drive a setpoint torque value allocated to this drive, the higher-level computer has controllers, and one of the controllers is allocated, in particular biuniquely, to each drive. The controller allocated to the respective drive controls the actual torque value of the respective drive to the setpoint torque value of the respective drive by determining a setpoint speed value allocated to the respective drive as the control value and transmits it to the respective drive, in particular with the aid of a data-bus connection. The respective drive has a controller in each case, to which the respective actual speed value, determined in the drive, of an electric motor of the drive is supplied and which controls this actual speed value to the respective setpoint speed value transmitted by the higher-level computer by setting the motor voltage or the motor current of the electric motor of the respective drive.