Torque combiner and rigid shaft simulation using Simscape

Torque combiners play a pivotal role in mechanical systems where multiple torque sources act in concert to drive a common load, such as in hybrid vehicles and multi-motor industrial equipment. This study proposes a simulation framework using Simscape, incorporating a distributed rotational mass-spring-damper shaft model that permits real-time inclusion of variable torque sources, inertial loads, and disturbances. Validation scenarios demonstrate the model’s ability to accurately handle system identification, proportional-integral (PI) control, and dynamic load sharing. Key results show that torque is effectively distributed across multiple motors, with steady-state torque loads of 45 [Formula: see text] divided equally among one, two, and three motors — each drawing 9.2, 4.7, and 3.2 A, respectively — leading to improved rebalancing times and peak efficiency of 90.9% in the two-motor scenario. The model maintains performance under fault conditions and dynamically engages spare actuators in adaptive actuation scenarios. These features affirm the framework’s robustness and its potential utility in the design and analysis of fault-tolerant, multi-source torque systems in mechanical engineering.