SUMMARY 
     The synchronization of several rotating mechanical devices at the same speed, or rotational velocity, is commonly accomplished through the use of synchronous alternating current (a.c.) motors. Through the use of a.c. motors which are speed synchronous relative to the a.c. power frequency, no direct mechanical connection, other than electrical wiring, need exist between the individual mechanical devices. Therefore, the motor driven devices may be located separately and yet act as though they are physically linked together. 
     The instant invention improves on this speed, or rotational velocity synchronization through additionally providing exact angular position synchronization between the key rotating member of each a.c. motor. The synchronization is provided through the designation of one motor as the MASTER, while each additional motor which must be angularly synchronized with the MASTER is provided as a SLAVE. In each case, the motor may be a different size or kind of a.c. synchronous motor and of ordinary design. 
     The MASTER and each SLAVE are fitted with shaft angle position sensors which provide an electric signal usually denotative of the shafts desired lock-in, or &#34;zero&#34; index position. The MASTER signal is brought together with each SLAVE signal in an electrical combining circuit which produces at least an ERROR signal when the respective SLAVE is not angularly synchronized with the controlling MASTER. This ERROR signal acts to disrupt the speed of the SLAVE motor, allowing angular shaft position slippage relative to the instant shaft position of the MASTER until angular synchronization is achieved. When angular synchronization, or lock-in occurs, the ERROR signal ceases and the SLAVE motor rotates synchronously with the MASTER motor, keeping an exact angular shaft position relationship therebetween. 
     It is therefore a purpose of the invention to provide exact angular, as well as rotational velocity synchronization between two or more electric motor machines. 
     A further purpose of the invention is to teach a method whereby a SLAVE motor may be brought into exact angular, as well as rotational velocity synchronization with a MASTER motor rotating member. 
     Yet another intent of the invention shows means for controllably retarding the normal angular rotational velocity of a SLAVE motor shaft member relative to a MASTER motor shaft member, thereby establishing at a subsequent instant of time a period of exact angular synchronization between the shaft members whereupon the retardation of the SLAVE motor is stopped and the SLAVE motor shaft immediately resumes running at its predetermined normal rotational velocity which keeps it in exact angular synchronization with the MASTER motor shaft member. 
     The teaching also shows several effective means for producing controllable retardation of the SLAVE motor shaft member rotational velocity. 
     Brought forth also is preferred control means for accomplishing the essence of the invention which is both efficient at producing angular shaft position between several electric motors, and is low in cost. 
     These and other important improvements wrought by the instant invention will become apparent to the artisan in the ensuing description and claims. 
    
    
     DESCRIPTION OF DRAWINGS 
     FIG. 1 Electrical diagram for a preferred embodiment including the essence of the invention. 
     FIG. 2 Waveform representations for the electric signals effective at key circuit points in FIG. 1. 
     FIG. 3 Orientation of rotating motor synchronization shutter relative to an optical coupler module. 
     FIG. 4 Typical construction of MASTER motor synchronization shutter. 
     FIG. 5 Typical construction of SLAVE motor synchronization shutter. 
     FIG. 6 Electrical diagram for a preferred embodiment capable of synchronizing several (three) SLAVE motors. 
     FIG. 7 Electrical diagram continuation of FIG. 6 showing connection with MASTER and several SLAVE motors. 
     FIG. 8 Electrical diagram for a SLAVE motor control switch device. 
     FIG. 9 Partial electrical diagram for adapting the circuit of FIG. 1 to provide two levels of retardation of the SLAVE motor speed. 
     FIG. 10 Connection to provide HUNT and LOCK indicator lights. 
     FIG. 11 Adaptation for the circuit of FIG. 1 to provide interruption of power to the SLAVE motor to provide speed retardation. 
     FIG. 12 Adaptation for the circuit of FIG. 1 to provide mechanical drag or temporary overload of the SLAVE motor by an electric brake. 
     FIG. 13 Adaptation for the circuit of FIG. 1 providing magnetic sensing of shaft position. 
     FIG. 14 Adaptation for the circuit of FIG. 1 providing electrostatic sensing of shaft position. 
     FIG. 15 Adaptation for the circuit of FIG. 1 providing d.c. current through the .0.B SLAVE motor winding, thereby producing electrodynamic drag and speed retardation. 
    
    
     DESCRIPTION OF THE INVENTION 
     The preferred embodiment for the instant invention appears in FIG. 1. Alternating current power is coupled into the apparatus on lines L1, L2. This power excites the MASTER synchronous motor 180, including the usual phase shift condensor 182. The master motor thus runs at a synchronous speed related to the a.c. power frequency by: ##EQU1## where: F=a.c. power frequency 
     n=number of motor (stator) poles 
     RPM=shaft speed (revolutions/minute) 
     In this definition, a synchronous motor is an electric machine which provides a shaft member which rotates at some exact integral multiple of the power line frequency, thereby maintaining a constant phase relationship between the motor shaft position and the a.c. power cycle waveform. Furthermore, an induction motor is an electric machine which provides a shaft member which rotates subsynchronously with the power line frequency, e.g. not quite as fast as the synchronous speed. As a practical matter, when fed from 60 hertz power, a two pole synchronous motor shaft speed is exactly 3,600 RPM, whereas a two-pole induction motor shaft speed is usually on the order of 3,000 to 3,450 RPM. 
     The SLAVE synchronous motor 185, together with the phase shift condensor 187 also receives a.c. power from the input lines L1, L2. The phase .0.A and .0.B connection of the motor 185 also couples 162, 163 with the slave motor control 160. 
     The transformer 115 couples through diodes 116-1, 116-2 to the function of a pair of resistors and to the base of NPN transistor 117. The transistor base is normally biased &#34;on&#34; by conduction throughout the power cycle by way of either diode 116-1 or 116-2 except when the power cycle is near zero crossover, when base bias briefly ceases. This causes an abrupt, albeit brief, transition of the collector with the result that a narrow negative going pulse appears at the output of the C-MOS inverter 118 with a repetition rate twice that of the power line frequency. 
     The MASTER motor and the SLAVE motor each have shutter devices attached to their respective rotating member shafts. In FIG. 3, the motor shaft 2 appears supporting a shutter 1 which, in the inventor&#39;s model served to selectively interrupt the light path 6 provided between a light emitting diode and a phototransistor, usually provided as a unitary optocoupler device 5, such as the General Electric type H13B1. The master shutter 10 configuration is shown in FIG. 4, whilst the SLAVE shutter 20 appears in FIG. 5. What is most particularly essential is the preferred arrangement where the aperture, or light path permitting opening 12 is of longer angular duration in the MASTER shutter 10 than that of the opening 22 duration in the SLAVE shutter 20. 
     This relationship of pulse duration produced by the difference in shutter opening angular duration is shown in the waveform representations of FIG. 2. The MASTER pulses produced by the phototransistor is shown as signal AB, having a somewhat longer HIGH state ON level than signal AC produced by the SLAVE sensor phototransistor. 
     The connection of the two sensor light emitting diodes (L.E.D.) 102, 122 to +V c  through a resistor is shown in FIG. 1. The MASTER phototransistor 100 produces a NEGATIVE pulse on line 104 when the light path is allowed between the L.E.D. 102 and the phototransistor 100, therefrom being inverted 105 producing signal AB at one input of NAND gate 110. In a like way the SLAVE photo transistor 120 produces a NEGATIVE pulse on line 124 when the light path is allowed between the L.E.D. 122 and the phototransistor 120, therefrom being inverted 125 producing signal AC at the other input of NAND gate 110 and also coupled with inverter 130 which together with the integration (e.g., time delay) provided by resistor 132 and condensor 133, together with inverter 135 serves to produce a slightly delayed signal AE similar to signal AC. Signal AE couples to and serves to CLOCK the &#34;D&#34; flip-flop 140. The result is that when the MASTER and the SLAVE are not in synchronization the instant signal states at the input of the NAND gate will be able to produce a LOW signal AD on the output of gate 110 which is coincident with the LEADING (positive) edge of signal AE only when the MASTER and the SLAVE shutter openings are in angular phase coincidence. When this coincidence is lacking, the NAND gate 110 output is HIGH when the signal AE clocks the &#34;D&#34; flip-flop 140, transferring the HIGH state of the Q output, thus to the &#34;D&#34; input of flip-flop 145. In turn, flip-flop 145 is clocked by signal AA just after zero-crossover of the a.c. power on lines L1, L2. When the HIGH state is clocked through flip-flop 145, the signal AG turns ON transistor 150 to activate a L.E.D. 62 in the General Electric H11C2 optical coupler 60 as shown in FIG. 8, which includes a trigger thyristor 64 which turns ON the control thyristor 55, resulting in bidirectional current flow between the &#34;X&#34; and &#34;Y&#34; terminal by way of the diode bridge comprising elements 57-1, 57-2, 57-3, 57-4. The resistor 65 is then effectively shunted across the condensor 187 associated with the motor 185. This spoils the torque and other running characteristics of the motor 185, resulting in angular slipping of the instant shaft position of the motor relative to its normal angular position. This phase upset of the motors .0.B excitation relative to .0.A is one of the essential parameters permitting ready angular resynchronization of the SLAVE motor with the MASTER motor. 
     When the SLAVE motor slips sufficiently to bring the MASTER and SLAVE shutter openings into angular coincidence, the instant logic signals AB, AC coupled to NAND gate 110 will be HIGH, producing a momentary LOW signal AD which is coincident with the clocking effect of signal AE on flip-flop 140. This results in a LOW output being transferred to the transistor 150 base, resulting in a cessation of collector current flow through resistor 152 and the L.E.D. 62. The result is thyristor 55 turns OFF, and the .0.B excitation on motor 185 returns to normal. The motor 185 then runs synchronously at the same relative speed as motor 180 and the exact angular shaft position relationship is held constant. 
     In the event the SLAVE motor is induced to lose its correct angular relationship relative to the master, resynchronization will again be repeated as described for initial snychronization. 
     The FIG. 2 waveforms illustrate typical circuit operation for the circuit of FIG. 1. The clock pulses are shown AA and correspond with the output of inverter 118. The MASTER synchronous motor reference pulse signal is shown AB, while the SLAVE reference pulse signal AC is shown where the relative timing between pulses AB and AC is sliding, or skewing, i.e. the repetition rate of AC is slightly less due to SLAVE motor retardation. When initial coincidence is reached, as between ABA and ACA, a pulse ADA is produced. When full coincidence of ACB is reached relative to ABB, pulse ADB is transferred through flip-flop 140 to produce the LOCK-IN signal AFB, while the AFB state is transferred through flip-flop 145 to produce control signal AGB on the next CLOCK pulse AAN. This shuts off the retardation signal AHB. 
     The circuit of FIG. 6 shows how several (for example, three) SLAVE motors can be angularly synchronized with a common MASTER motor. Each motor includes a photo-coupled 5 and shutter 1 arrangement similar to that depicted in FIG. 3. The action of the MASTER L.E.D. 202 and phototransistor 200, together with inverter 205 and NAND gate 210-1 is equivalent to the like elements of FIG. 1. In the same way the L.E.D. 222-1, phototransistor 220-1, inverters 225-1, 230-1, 235-1, and elements 232-1, 233-1 correspond with like elements of FIG. 1. This effects a similar control timing of signal states through flip-flops 240-1, 245-1 which brings about the angular synchronization of the SLAVE 1 motor with the MASTER. 
     Angular synchronization for SLAVE 2 and SLAVE 3 motor is similar. L.E.D. 222-2, 222-3 correspond with phototransistors 220-2, 220-3 which couple through the inverters 225-2, 225-3, 230-2, 230-3, 235-2, 235-3 together with timing elements 232-2, 232-3, 233-2, 233-3, NAND gates 210-2, 210-3 serve as phase coincidence detectors, with the outputs therefrom coupled through the synchronization signal transfer flip-flops 240-2, 240-3, 245-2, 245-3. D.C. power on bus 292 is provided from supply 290, whilst CLOCK pulses are adapted from the a.c. power line through trnasformer 215, together with diodes 216-1, 216-2, transister 217, and inverter 218, producing a signal AA which clocks the three flip-flops 245-1, 245-2, 245-3. The SA, SB, SC outputs couple to FIG. 7 into the base of each respective NPN transistor 250-1, 250-2, 250-3. The respective collectors connect through ballast resistors 252-1, 252-2, 252-3 to the L.E.D. element in each motor control function 260-1, 260-2, 260-3 each of which acts to spoil the phase shift of .0.B for each SLAVE motor 285-1, 285-2, 285-3 normally produced by condensors 287-1, 287-2, 287-3. In about the same electrical response action as described for FIG. 1, each SLAVE motor is brought into angular phase lock with the MASTER motor 280, which together with condensor 282 runs at a constant, frequency-stabilized, speed. Each motor control function 260-1, 260-2, 260-3 may comprise the elements of FIG. 8. 
     The bilevel control of a slave motor 185 is depicted in FIG. 9. The circuit of FIG. 1 is adapted to provide rapid speed skewing of the slave motor error until lock-in is about reached, wherein the motor speed slippage rate is reduced, and the error is closed-in by small incremental speed skewing. As shown, the circuit detail of FIG. 9 adds onto the circuitry of FIG. 1. Two extra flip-flops 300, 310 are used with flip-flop 300 receiving its DATA input signal from the output of the NAND gate 110, whilst the CLOCK signal therefore is provided by inverters 320, 325 together with timing elements 322, 323 which collectively act to delay the MASTER pulse signal AB from the output of inverter 105. When the angular error is large, motor control 330 is energized by transistor 315 through ballast 316. The control 330 is predetermined to introduce a large .0.B error into motor 185 causing rapid, extensive speed skew. When the MASTER and SLAVE shutter signals reach initial coincidence, e.g. the capture range, control 330 is disabled and control 160 effects a lesser predetermined amount of motor skew until exact angular lock is achieved. 
     Indication of control status is provided by the circuit detail of FIG. 10. When the controller is HUNTING, the Q output of flip-flop 145 is HIGH, turning on transistor 350 and thus pilot light 355. When LOCK-IN is achieved, the flip-flop 145 states reverse and Q is HIGH, turning on transistor 360 and thus pilot light 365. 
     The accuracy of angular lock-in, or synchronization is determined by several inherent factors. The difference between the opening 12 and opening 22 in the motor shutters 10, 20 describes the lock-in range. When the two are very nearly the same, but with opening 12 slightly larger, the angular correction and synchronization is the most precise. However, the skew control enters in, and if the skew is too rapid or in relatively large steps, the lock-in range of the shutters will overshoot and excessive lock-in hunting will occur. Furthermore, the natural synchronous lock position for some types of motors can create a pattern which causes the shutter lock-in conditions to jump out of coincidence for no apparent reason, or else be hard to capture in the first place. Therefore, the opening overlap of shutter 12 relative to shutter 22 must be predetermined by the artisan to meet the overall stability conditions of the system, including the controller effect, the motor response, and the load damping effect. 
     The brief interruption of a.c. power flow to the SLAVE motor to effect speed skewing is shown in FIG. 11. The transistor 150 base couples to the Q output of flip-flop 145 of FIG. 1, receiving a signal AG which turns transister 150 OFF when the motor skews, or is hunting. This serves to shut off power flow through the motor control 160 which is similar to the form depicted in FIG. 8 except that resistor 65 is omitted, or of very low resistance value. When LOCK-IN is reached, the Q output AG goes HIGH and the motor control turns ON, coupling normal a.c. power to the motor 185. 
     The electrical drag-braking of the synchronous motor 185 is shown in FIG. 12. An ordinary induction motor is known to provide a strong drag, or resistance to shaft rotation, when the field is d.c. excited. Therefore, the induction motor 460 is mechanically coupled 462 to the motor 185 rotating member. When hunting, the flip-flop 140 Q LOW output AF couples through PNP transistor 450 and NPN transistor 452 to provide d.c. current in the drag motor 460 field winding. Thus, briefly imparted braking action is brought to play on the motor 185 which can cause it to break away from pole-lock, and slip or skew pole-to-pole and therefore decrease in rotational velocity or speed. The choice of the SLAVE motor characteristic must be predetermined in that it must allow fairly smooth pole breakaway when the load torque limit is exceeded, or else excessive hopping or overall erratic behavior can result. The inertia of the load is preferably high for best control effect using the braking method. There is no advantage to &#34;zero cross&#34; synchronization in this method, and therefore all the line frequency clock circuits for signal AA and flip-flop 145 may be detected from the hookup of FIG. 1. 
     The synchronization signals are generated through the use of inductive pickup devices 8-1, 8-2 in FIG. 13. The notch, or discontinuity, in the rotating MASTER and SLAVE synchronization shutters 10&#39;, 20&#39; produces a corresponding electric pulse signal which is amplified 103, 123 and connected to the logic level inverters 105, 125. 
     In FIG. 14 the synchronization signals are generated through the use of capacitive pickup probe devices 9-1, 9-2 situate near the rotating MASTER and SLAVE synchronization shutters 10&#34;, 20&#34;. The voltage change developed across the probe due to the abrupt change in capacitance between the notch, or open part of the shutter and the solid part is amplified 103&#39;, 123&#39; to produce logic level pulse signals which couple to the inverters 105, 125. 
     The retardation of the speed of the synchronous motor through the expedient of introducing a unipolar or pulsating d.c. voltage in the .0.B winding in combination with the phase shifted .0.B a.c. power signal is shown in FIG. 15, when used in combination with the circuit of FIG. 1. The optocoupler thyristor 64 couples between the anode and gate of a power s.c.r. 55&#39;. The s.c.r. is connected directly in series with the resistor 65&#39;, and substantially in parallel with capacitor 187 as shown in FIG. 1. The effect is that, due to the unidirectional character of the s.c.r., a d.c. level is produced through the .0.B motor winding which serves to retard the motors torque characteristics and speed. 
     While particularly shown for use with synchronous motors, the teaching is applicable to non-synchronous induction motors of similar design, e.g. squirrel cage rotor induction motors, etc. The essential requirement for ordinary induction motors is that they be provided with a well dampened load which intrinsically causes each the MASTER and the SLAVE to run near the same speed, with the MASTER predetermined to unconditionally run no faster than the SLAVE. 
     While the teaching particularly shows a combination of semiconductor control elements in a unique arrangement, this is by no way limiting as to the choice which may be allowed a practitioner of this invention without departing from the essence of the control method. 
     The change of element combinations to bring about the described effect, and the method for achieving this effect, may undergo alteration by a skilled artisan and yet this shall not construe departure from the central essence of the invention&#39;s method for achieving relative angular shaft position synchronization between at least two electric motor driven machines. 
     The obvious use of sensor means and shutter means other than those described is well within the scope of this invention. 
     It shall be furthermore obvious that the method for spoiling the slave motor speed need not be limited to the shown method, but may also include conventional means such as brief power interruptions, electrically actuated braking, and other speed change adaptive methods.
The exact shaft angle position synchronization of two or more ordinary synchronous induction motors is provided. One motor, serving as the master, is powered directly from a source of alternating current. Each additional motor, which may be of a different size or type, is slaved to the intrinsic rotational speed of the master through the inherent electrical speed synchronization wrought by being excited by a common alternating current power source. Each slave motor is further synchronized by this invention to attain, and subsequently hold, an exact angular shaft position relative to the master. The position of the master and each slave motor shaft position is constantly measured, thereby producing several trains of electrical pulses which are compared. When an error exists, an electrical signal is produced which acts with the a.c. Excitation applied to the slave motor so as to controllably retard its rotational velocity, thereby causing the angular shaft position to the slave motor to slip, or be retarded, relative to the angular position of the master motor shaft. When the angle of the slave has slipped sufficiently, and generally less than 360 degrees, the pulse train produced by the master and the slave achieve momentary coincidence and the electrical retardation of the slave motor ceases. The subsequent result is a mechanical synchronization of the angular shaft position of each motor, which is then maintained in that useful relationship by the nature of their common speed synchronization with the alternating current source frequency.