Multimotors traction is a common driving mode for electric locomotives. The complexity and variability of the operating environment often cause difficulties for one or some traction motors to output the distributed traction torque, which requires the redistribution of the torque output of multimotors to maintain the total traction torque of all motors at a given constant. To this end, a multimotors coordination control method was proposed for consistent total traction torque of electric locomotives. Through this approach, a traction torque-coordinated control structure was constructed on the basis of energy minimisation with an optimal dynamic adjustment mode. The sliding mode tracking control was developed for each independent motor to improve its dynamic response performance. A simulation verification of motors fault types in two different cases was conducted. The results showed that the proposed method could track the total traction torque in a short time, and the system fluctuations in independent motor coordination process were very small.

中文翻译：

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电力机车总牵引力矩一致的多电机协调控制方法

多电机牵引是电力机车的常见驱动模式。操作环境的复杂性和可变性通常导致一台或某些牵引电动机难以输出分配的牵引转矩，这需要重新分配多电动机的转矩输出以将​​所有电动机的总牵引转矩保持在给定的常数。为此，提出了一种用于使机车的总牵引转矩一致的多电动机协调控制方法。通过这种方法，在能量最小化的基础上，采用最优的动态调节方式，构建了牵引转矩协调控制结构。针对每个独立电动机开发了滑模跟踪控制，以改善其动态响应性能。对两种不同情况下的电动机故障类型进行了仿真验证。结果表明，该方法能够在短时间内跟踪总牵引转矩，并且独立电动机协调过程中的系统波动很小。