Multimotors Coordination Control Method for Consistent Total Traction Torque of Electric Locomotives

Table 1

Parameters of each motor.

Symbol	Motor 1	Motor 2	Motor 3	Motor 4
Motor resistance R	2.5	2.2	2.3	2.4
Motor inductance L	0.612	0.55	0.6	0.58
Equivalent viscous friction coefficient beq	0.08	0.06	0.07	0.075
Equivalent motor moment of inertia Jeq	2.4	2.3	2.35	2.15
Motor torque coefficient km	82.2	81.5	81.8	82
Back electromotive force constant ke	82.32	82.2	82.3	82.31
Gearbox transmission ratio kt	8	7.888	7.9	7.95