A system having a positive displacement, centric rotary, reciprocating type of machine with a pair of motor operated rotary parts, and a method of electronically controlling operation of the system

Abstract

A machine system having a positive displacement, centric rotary reciprocating type of machine, the system comprising: a non-rotatable process housing (101) which surrounds a pair of first and second mutually movable, co-axial rotary parts (102; 103) movable in a continuous, uninterrupted mode along a curved surface (104) and two planar end wall (105; 106) of the housing; and fluid inlet(s) (105') and fluid outlet(s) (106') on the housing. Each rotary part (102; 103) is coupled to a power device (108; 109) controlled from a power device operation unit (110; 111). Each power device (108; 109) receives assigned timing and angular position controlled electrical power signals from its power device operation unit (110; 111), the signals related to cyclically instantaneous mutually different angular positions (θoutRotorA; θoutRotorB) of the rotary parts. The power device operation units (110; 111) are controlled from a common electronic control unit (112) connected to a Human-Machine- Interface (113).

Description

[0001] A system having a positive displacement, centric rotary, reciprocating type of machine with a pair of motor operated rotary parts, and a method of electronically controlling operation of the system. Background of the invention The present invention relates to a machine system having a positive displacement, centric rotary reciprocating type of machine, the system comprising: a non-rotatable process housing of the machine which surrounds a pair of first and second mutually movable rotary parts having co-axial axes of rotation, the process housing exhibiting an inner, circular curved surface and two planar, parallel inner end wall surfaces; a rotary drive shaft for each of the rotary parts, and at least one fluid inlet and at least one fluid outlet on the process housing selectively communicating with at least one adjustable angular space created by mutual rotary movement of at least one vane on each of the first and second rotary parts within the process housing. Further, the present invention relates to a method of controlling rotary angular positioning within a machine of positive displacement, centric rotary reciprocating type. Prior art A machine system having the type of machine as defined above, is well known from inter alia EP 3022444, US 4319551, US 6036461, and US 6270322. Conventionally, such machines require an operation control system comprising at least co-operating non-circular (typically of oval or elliptical configuration) gears, but in most cases such non-circular gears are co- operating with circular gears to yield gear assemblies such as shown and described in e.g. WO 2014112885. US 2012266841 indicates gear assemblies to be replaced by multiple motors of which at least one has discontinuous operation. Objects of the invention In appreciation of the fact that gear assemblies of the prior art require to be operated by at least one motor, require precision and costly manufacturing as regards the non-circular gears thereof, require safe lubrication, are subjected to wear and tear upon excessive torques imposing regular maintenance, and require substantial space, the use of the machine system with the aid of conventional motor driven gear assembly in a confined space or at location being not easily accessible impose limitations to its practical use. In particular at locations in in a downhole well where the radial dimension of the confined space is indeed limited, a simpler operation control system of the machine or machines of a machine system is highly desirable. Further, irrespective of location of the machine system, a simpler operation control system is also desirable from a point of view of adjusting operational modes of the machine system without being restricted by set dimensions of gear assemblies. Summary of the invention In the present machine system having a machine of positive displacement, centric rotary reciprocating type, - each rotary drive shaft of the pair of rotary drive shafts is linked to an associated power device having associated therewith a power device operation unit having a control signal inlet, a power inlet and a power signal outlet, - each power device is configured to receive assigned timing and angular position controlled, electrical power signals from its respective power device operation unit, the timing and angular position controlled electrical power signals being related to cyclically preset instantaneous rotary angular positions of the rotary drive shafts, respectively to mutually yield cyclically preset instantaneous angular position differences of the rotary drive shafts, respectively, - both power device operation units are connected to, controlled from, and receiving assigned timing and angular position controlled signals from a common electronic control unit, respectively, and further being connected to a power supply, - both power device operation units are set to operate in a continuous, uninterrupted mode to drive the power devices and their related machine rotary parts accordingly, and - the pair of power devices being configured to provide coordinated joint and continuous operation of the pair of machine rotary parts. Further non-limiting embodiments and features of the machine system of the invention will appear from the detailed description with reference to the attached drawings, and from the attached patent claims. Non-limiting embodiments and features of the rotary position controlling method of the invention appear from the related patent claims, as well as from the detailed description with reference to the attached drawings. The machine system is typically suitable for pump operation or compressor operation or expander operation of fluid, such as air, gas and / or fluid, either as single phase or multi-phase thereof. In the following description terms like a) “exploded view” and b) “modified exploded view” are used, a) being related to a typical rectilinear separation of structural parts, and b) being related to some structural parts shown in rectilinear separation, and some other parts shown shifted sideways and thereat some of these other parts also shown in rectilinear separation. Further, the term “co-axial axes of rotation” implies that two rotary structural parts each have an axis of rotation, and that these axes of rotation are axially aligned and thus co-axial. Fig.1 is a block schematic presentation of the machine system of the invention. Fig.2 is a detailed view of a power device operation unit of the system in cooperation with a power device, an angular position encoder, a power supply, and a common electronic control unit linked to an HMI interface Fig.3 is a non-limiting embodiment of the system for operation in a well, downhole, in a process tube or in a pipeline. Fig.4 is a non-limiting embodiment of the system for operation in a well, downhole, in a process tube or in a pipeline as a variant of the embodiment of Fig.3. Figs.5a - 5c, Figs.6a - 6c, Figs.7a – 7c and Figs.8a – 8c illustrate in a non-limiting presentation a typical machine rotary part of having one vane, two vanes, three vanes and four vanes, respectively. Figs.9a – 9c illustrate a machine with one-vane rotor parts and power devices shown in exploded view, modified exploded view and longitudinal cross-section, respectively, and Fig. 9d shows in a perspective view a pair of the interacting rotor parts of one-vane type. Figs.10a and 10b illustrate a machine with two-vane rotor parts and power devices shown in modified exploded view and longitudinal cross-section, respectively, and Fig.10c shows in a perspective view a pair of the interacting rotor parts of two-vanes type. Figs.11a and 11b illustrate a machine with three-vane rotor parts and power devices shown in modified exploded view and longitudinal cross-section, respectively, and Fig.11c shows in a perspective view a pair of the interacting rotor parts of three-vanes type. Figs.12a and 12b illustrate a machine with four-vane rotor parts and power devices shown in modified exploded view and longitudinal cross-section, respectively, and Fig.12c shows in a perspective view a pair of the interacting rotor parts of four-vanes type. Fig.13a illustrates, relative to the machine embodiment of Figs.9a – 9d having one-vane rotor parts coupled to power devices, in a modified exploded view an amended machine embodiment with one-vane rotor parts, Fig.13b shows the embodiment of Fig.13a in an assembled side view, Fig.13c is a longitudinal cross-section through the assembled embodiment, and Fig.13d is a perspective view of the assembled embodiment. Fig.14a illustrates, relative to the machine embodiment of Figs.10a – 10c having two-vanes rotor parts coupled to power devices, in a modified exploded view an amended machine embodiment with two-vanes rotor parts, Fig.14b shows the embodiment of Fig.14a in an assembled side view, and Fig.14c is a longitudinal cross-section through the assembled embodiment. Fig.15a illustrates, relative to the machine embodiment of Figs.11a – 11c having three-vanes rotor parts coupled to power devices, in a modified exploded view an amended machine embodiment with three-vanes rotor parts, Fig.15b shows the embodiment of Fig.15a in an assembled side view, and Fig.15c is a longitudinal cross-section through the assembled embodiment. Fig.16a illustrates, relative to the machine embodiment of Figs.12a – 12c having four-vanes rotor parts coupled to power devices, in a modified exploded view an amended machine embodiment with four-vanes rotor parts, Fig.16b shows the embodiment of Fig.16a in an assembled side view, and Fig.16c is a longitudinal cross-section through the assembled embodiment. Fig.17a illustrates, relative to the embodiments of Figs.9a – 9d and Figs.13a – 13d having one-vane rotor parts and power devices located at both axial sides of the process housing, in a modified exploded view a further modified machine embodiment with one-vane rotor parts and both power devices located at one axial side region of the process housing, Fig.17b is a longitudinal cross-section through an assembled side view of the embodiment of Fig.17a, Fig.17c is an assembled side view of the embodiment of Fig.17a, and Figs 17d -17f are the cross-sections I, II and III on Fig.17c, respectively. Fig.18a illustrates, relative to the embodiments of Figs.10a – 10c and Figs.14a – 14c having two-vanes rotor parts and power devices located at both axial sides of the process housing, in a modified exploded view a further modified machine embodiment with two- vanes rotor parts and both power devices located at one axial side region of the process housing, Fig.18b is a longitudinal cross-section through an assembled side view of the embodiment of Fig.18a, Fig.18c is an assembled side view of the embodiment of Fig.18a, and Figs 18d - 18f are the cross-sections I, II and III on Fig.18c, respectively. Fig.19a illustrates, relative to the embodiments of Figs.11a – 11c and Figs.15a – 15c having three-vanes rotor parts and power devices located at both axial sides of the process housing, in a modified exploded view a further modified machine embodiment with three- vanes rotor parts and both power devices located at one axial side region of the process housing, Fig.19b is a longitudinal cross-section through an assembled side view of the embodiment of Fig.19a, Fig.19c is an assembled side view of the embodiment of Fig.19a, and Figs.19d - 19f are the cross-sections I, II and III on Fig.19c, respectively. Fig.20a illustrates, relative to the embodiments of Figs.12a – 12c and Figs.16a – 16c having four-vanes rotor parts and power devices located at both axial sides of the process housing, in a modified exploded view a further modified machine embodiment with four- vanes rotor parts and both power devices located at one axial side region of the process housing, Fig.20b is a longitudinal cross-section through an assembled side view of the embodiment of Fig.20a, Fig.20c is an assembled side view of the embodiment of Fig.20a, and Figs.20d - 20f are the cross-sections I, II and III on Fig.20c, respectively. Figs.21a – 21c illustrate in perspective view, end view and side view, respectively, a process housing of the machine having one axial inlet and one radial outlet for use with rotor parts of one-vane type. Figs.22a – 22c illustrate in perspective view, end view and side view, respectively, a process housing of the machine having two axial inlets and two radial outlets for use with rotor parts of two-vanes type. Figs.23a – 23c illustrate in perspective view, end view and side view, respectively, a process housing of the machine having three axial inlets and three radial outlets for use with rotor parts of three-vanes type. Figs.24a – 24c illustrate in perspective view, end view and side view, respectively a process housing of the machine having four axial inlets and four radial outlets for use with rotor parts of four-vanes type. Figs.25a – 25p illustrate in a non-limiting example the use of a machine having rotor parts of two-vanes types at some selected rotary angular positions based on mathematical definitions and set parameters with reference to angular values disclosed in Table 1. Fig.26a illustrates in support of the non-limiting example of Figs.25a - 25p angular position curves of the two-vanes type rotary parts as a function of instantaneous θinMaster angles and with a parameter K =1.6, and Fig.26b refers to angular positions as defined in Table 2 and being based on manual adjustment of position values as disclosed in Table 1- to achieve constant speed between a closed and open displacement chamber or space. Fig.27a illustrates, with reference to Table 3, as a further non-limiting example angular position curves of the two-vanes type rotary parts as a function of instantaneous θinMaster angles and with the parameter K=2.0, and Fig.27a refers to angular positions as defined in Table 4 and being based on manual adjustment of position values disclosed in Table 3 - to achieve constant speed between a closed and open displacement chamber or space.. Fig.28a illustrates, with reference to Table 5, as a further non-limiting example angular position curves of the two-vanes type rotary parts as a function of instantaneous θinMaster angles and with the parameter K=3.0, and Fig.28b refers to angular positions as defined in Table 6 and being based on manual adjustment of position values disclosed in Table 5 - to achieve constant speed between a closed and open displacement chamber or space.. Fig.29 shows a simplified flowchart for controlling the machine system. Detailed description The invention relates to a machine system 100 having a positive displacement, centric rotary reciprocating type of machine, the system comprising a non-rotatable process housing 101 of the machine which surrounds a pair of first and second mutually movable rotary parts 102; 103 having co-axial axes of rotation, the process housing 101 exhibiting an inner, circular curved surface 104 and two planar, parallel end wall surfaces 105; 106, see e.g. Figs.1 and 9a. A drive shaft 102’; 103’ is provided for each of the rotary parts. At least one fluid inlet 105’ and at least one fluid outlet 106’ on the housing selectively communicate with at least one adjustable angular space 107; 107’ (see Fig.9d) created by mutual rotary movement of the first and second rotary parts 102; 103 within the housing 101. Each drive shaft 102’; 103’ of the pair of drive shafts is linked to an associated power device 108; 109 having associated therewith a power device operation unit 110; 111 having a timing-controlled angular position signal inlet 110’; 111’ and a power outlet 110’’; 111’’. Each power device 108; 109 is configured to receive assigned timing controlled angular position electrical power signals from its respective power device operation unit 110; 111, the timing controlled angular position electrical power signals being related to cyclically preset instantaneous angular rotary positions of the drive shafts 102’; 103’, respectively, to mutually yield cyclically preset instantaneous angular rotary position differences of the rotary drive shafts. It will be appreciated that each power device 108; 109 has a rotary shaft 108’; 109’, as e.g. shown on Fig.13c. Both power device operation units 110; 111 are connected to, controlled from, and receiving said assigned timing-controlled angular position signals (ωoutRotorA; ωoutRotorB) from a common electronic control unit 112, respectively, and they both receive electrical power from a power supply 122 via power line inlet 122’. Both power device operation units 110; 111 are set to operate in a continuous, uninterrupted mode to drive the power devices 108; 109 and their related rotary parts 102; 103 accordingly, and the pair of power devices 108;109 are thus configured to provide coordinated joint and continuous operation of the pair of rotary parts 102; 103. As an outset, the outputs 110’; 111’ generated from the common electronic control unit 112 to the power device operation units 110; 111 are motion profiles governed by Master input angle values θinMaster ranging 0°- 360° forming a basis for ω·t inMaster as a timing reference. Thus, the control unit 112 uses mathematical expressions to create in tabular format instantaneous angle values with said timing reference for the rotors parts 102; 103, also denoted as Rotor A and Rotor B elsewhere in the description and on some of the drawings. As will be further detailed below, mathematically created instantaneous angle values for the rotary parts and thereby also their mutual angular rotational speed will be a function of typical maximum displacement angle α between a pair of rotary parts and the number vanes nv on each rotary part to yield a constant K to be inserted into the expression. A human-machine- interface (HMI) 113 will be useful to deliver parameter values and the mathematical expressions for use by the control unit 112 to calculate tabular arrays of rotary position related angles θoutRotorA and θoutRotorB) of each rotary part 102, A; 103, B with a Master angle θinMaster reference. Thus, it should be observed that the interface 113; HMI is able to provide initial system set- up parameters to the common electronic control unit 112 of the system to cause the control unit 112 to generate start position motion profiles for use by the pair of rotary power devices 108; 109 driving the pair of rotary parts 102; 103. Such set-up parameters are selected from one or more of: the total number 2nv of vanes in the machine, maximum displacement angle α between a vane of one rotary part 102 and an adjacent vane of the other rotary part 103, and initial rotary starting position of a rotary shaft 108’; 109’ of each of the power devices 108; 109 and its attached rotary part 102; 103. Further, the HMI interface 113 is capable of providing further set-up parameters and delivering these to the common electronic control unit 112. These further set-up parameters, as will be discussed in more detail later in the description are: - either mathematical formulas for calculation, by the control unit 112, of tabular arrays of rotary position related angles θoutRotorA and θoutRotorB) of each rotary part 102, A; 103, B with a Master angle input θinMaster reference, or a dedicated at least partial modification of the tabular arrays as mathematically calculated by the control unit 112; - a constant factor K being a function of just mentioned parameters α and nv; - master angular velocity ω·t inMaster as a timing reference based on the master angle input θinMaster; and - acceptance limits of rotary position error of the rotary shaft 108’; 109’ of each of the power devices 108; 109 and its attached rotary part 102, A; 103, B. Thus, the control unit 112 performs a mathematical calculation of tabular arrays of rotary position related angles. These tabular arrays will be made available from the control unit 112 to the interface 113. Thus, if the mathematically derived tabular arrays derived by the control unit 112 are to be used in an amended form, amendments thereof are manually entered into those tabular arrays at the interface 113 before amended arrays are presented to the control unit 112. Thus, although the mathematical expressions or formulas yield operation tables to instantaneously control the rotary parts, it will be appreciated that such tables may be manually modified through use of the HMI interface 113 to divert from a defined mathematical expression. This could be in the case that the power devices are so powerful and responsive that e.g. increased acceleration and / or retardation is desirable, and / or measures need to be considered related to the medium to be processed by the system, such air, gas or fluid, either single-phase or multi-phase. In such a case, as shown on Fig.1, the interface 113 is used to inspect the tabular arrays received from the control unit 112 and adjust the operational table so that within certain angular ranges of θinMaster, angular movement steps or increments of the rotary parts can be made larger or smaller per unit of time. A line 112’ connects the HMI interface 113 to the common electronic control unit 112. The HMI interface 113 has suitably an input device 113’, a processor 113” with an output, and display 113”’ for input guidance and system monitoring. Further, it is noted from Fig.1 that an encoder 114; 115 suitably is operatively linked to the power device 108; 109 in order to detect any instantaneous angular position of the rotary part 102; 103 e.g. by monitoring instantaneous angular position of the rotary shaft 108’; 109’ of each of the power devices 108; 109 and feed it to the power device operation unit 110; 111 via line 114’; 115’ in order to ensure by comparison therein that the angular positions detected by the encoder harmonize with the set angular positions delivered from the control unit 112. If the harmonization has an error beyond a certain limit, steps must be taken to reduce the error to avoid any risk of impact between vanes on the first and second rotary parts 102; 103 which could yield damage to the rotary parts or to the power devices. With reference to Fig.1, it is noted that the power device operation unit 110; 111 receives angular position input signals from the common electronic control unit 112 via input line 110’; 111’. These input signals arrive at a comparator 116 at a + input, and input signals from the angular position encoder 114; 115 arrive at the comparator 116 at its – input, as shown. If an error is present at the comparator output 116’, then a controller 117 and a process unit 118 within the power device operation unit 110; 111 corrects the actual position of the power device 108; 109 (e.g. an electric motor) to match the target position as instantaneously set by the common electronic control unit 112. As noted from Fig.2, power is delivered from the power supply 122 to the process unit 118 of the power device operation unit 110; 111. Thus, the closed loop configuration of power device operation unit 110; 111, power device 108; 109 and angular position encoder 114; 115 as shown on Fig.2 uses angular position feedback to precisely control motion and final instantaneous position of the rotary part 102; 103. Figs.3 and 4 illustrate schematically and by way of non-limiting embodiments how the system of the present invention may be applied downhole in e.g. a subsea well tube or production tube 119 or a well tube onshore. For sake of clarity, the process housing 101 has been replaced by apportion of the production tube 119. Fluid passage between the production tube 119 and the power device 108; 109 is denoted by 120; 121. Fig.3 shows the power device operation units 110; 111 located subsea, in which case only ac or dc power delivery 122 and the human-machine-interface 113 are not downhole. In the non-limiting embodiment of Fig.4, it is noted that more equipment related to the operation units 110; 111 have been removed from a location in the production tube 119. The reason for the latter approach is in most cases caused by a desire to have a minimum of electronic equipment located downhole. As will be further discussed and shown on the drawings, the rotary parts on Figs.1 may each suitably have one vane, two vanes, three vanes or four vanes. Fig.9a – 9d show each rotary part with just one vane, and Fig.9a was referred to merely to highlight some structural aspects of the invention without thereby limiting the scope of the invention. Although in the present disclosure and on the drawings examples have been shown with one, two, three or four vanes on each rotary part, it will be appreciated that dependent on the available overall physical dimensions of the process housing, the number of vanes on the rotary parts may be larger than four with related number of inlets and outlets. Now with reference to Figs.5a – 5c, 6a – 6c, 7a – 7c and 8a – 8c, some typical variants of rotary parts which may be used in the machine of the system are shown. Generally, they all may be considered Prior Art. The first and second ones of the rotary parts 102; 103 has a hub 123 and at least one or more vanes extending radially therefrom. The drive shaft 102’; 103’ extends from the hub 123. Figs.5a – 5c show a rotary part 102; 103 with only one vane 124. Figs.6a – 6c show a rotary part 102; 103 with two vanes 125, 126. Figs.7a – 7c show a rotary part 102; 103 with three vanes 127 – 129. Figs.8a – 8c show a rotary part with four vanes 130 – 133. It is noted that the radially outermost end of the one or more vanes exhibits a curved configuration to be controllably movable along the inner circular curved wall surface 104 of the process housing 101 (see e.g. Fig.9a), and with two other opposite, parallel vane regions thereof being movable relative to flat inner end wall surfaces 105; 106 of the housing 101, see e.g. Fig.9a. Each inlet and each outlet of the machine communicate with successive ones of one or more adjustable angular spaces defined between the vanes of the first rotary part 102 and the second rotary part 103, as will be discussed below. Further, an axial dimension Lh of the hub is a half of the axially directed thickness Lv of the one or more vanes of the rotary parts, as visualized on Fig.5b. Some different embodiments of the machine system, in particular related to different number of vanes on a set of rotary parts used and configuration and arrangement of the power devices 108; 109 will now be briefly discussed. Figs.9a – 9d, 10a – 10c, 11a -11c and 12a – 12c illustrate how the machine with its rotary parts and power devices 108; 109 may be installed within a common outer machine casing140. With reference to Figs.9a – 9c it is noted that the power device 108; 109 has a stator part 134 and a rotor part 135 with associated ball bearings 136 and 137 at either end, and a sealing 138. The members 134 - 138 fit inside a power device outer housing 139. The rotor part 135 of the power device 108; 109 engages the shaft 102’; 103’ of the machine rotary part 102; 103, and the sealing 138 will engage a rear face of the hub 123, The machine with its rotary parts 102; 103 and power devices 108; 109 may be installed within the common outer machine casing 140. The same configuration applies to the embodiments shown on Figs.10a – 10b, 11a – 11b and 12a -12b. It noted that the two planar, parallel end wall surfaces 105; 106 on Figs. 9a – 9b have an axial inlet 105’ and an axial outlet 106’ corresponding to just one vane on the rotor parts 102; 103. Figs.10a – 10c exhibit the use of two vanes on each rotary part, thereby yielding two axial inlets 141, 142 and two axial outlets 143, 144. Further, Figs.11a - 11c exhibit the use of three vanes on each rotary part 102;103, thereby yielding three axial inlets 145 - 147 and three axial outlets 148 - 159. Still further, Figs.12a – 12c exhibit the use of four vanes on each rotary part, thereby yielding four axial inlets 151 - 154, and four axial outlets 155 – 158. It is noted that the process housing 101 has a close fit to the inside of the machine casing 140. Figs.13a – 13d, 14a – 14c, 15a – 15c and 16a – 16c relate to another approach to the machine part of the system of the invention. The rotary shaft 108’; 109’ of the power device 108; 109 is connected to the rotary shaft 105’; 106’ of the rotary part 105; 106 via a coupling 159. A shaft casing 160 engages the rotary part shaft 102’; 103’ via ball-bearings 161, 162. The process housing 101 has end walls 105, 106 attached to said shaft casing 160. A sealing 163 adjacent the bearing 162 abuts a rear face of the hub 123 of the rotary part 102; 103. Contrary to the embodiments of Figs.9a – 9d, 10a – 10c, 11a -11c and 12a – 12c, the process housing provides for radial inlet(s) and outlet(s). Thus, Figs.13a – 13d exhibit one radial inlet 164 and one radial outlet 165 corresponding to just one vane on the rotor parts 102; 103. Figs. 14a – 14c exhibit the use of two vanes on each rotary part, thereby yielding two radial inlets 166, 167 and two radial outlets 168, 169. Further, Figs.15a -15c exhibit the use of three vanes on each rotary part, thereby yielding three radial inlets 170 - 172 and three radial outlets 173 - 175. Still further, Figs.16a – 16c exhibit the use of four vanes on each rotary part, thereby yielding four radial inlets 176 - 179, and four radial outlets 180 – 183. It is noted that for the proposed embodiments of Figs.9a – 9d, 10a – 10c, 11a -11c and 12a – 12c, and Figs.13a – 13d, 14a – 14c, 15a – 15c and 16a – 16c, the power devices 108; 109 located at both axial sides 105, 106 of the process housing 101. These are currently preferred embodiments. A further approach is shown by the embodiments of Figs.17a – 17f, 18a – 18f, 19a -19f and 20a – 20f. It is observed that both power devices are located in a series configuration at one axial side region of the process housing 101. The rotary part 102 has a hollow drive shaft 184 and the rotary part 103 has an axially longer, solid drive shaft 185. Through the tubular inside of the shaft 184 is the shaft 185 extending in a rotary engagement with the shaft 184. The shaft 185 extends beyond a rear end of the shaft 184 in order to be able to engage the power device 109. The shaft 184 is configured to engage the power device 108. It is noted that the hub 123’ of the rotary part 102 is axially hollow to allow the shaft 185 to pass through. The power device 108 has a stator 186 and a rotor 187, the rotor 187 engaging the hollow shaft 184. Because both power devices 108 and 109 are structurally identical, a filler lining 188 is provided between the rotor 190 and the shaft 185 of power device 109 to facilitate their mutual engagement. Thus, the power device 109 has a stator 189 and the rotor 190, the rotor 190 via the filler lining 188 engaging the drive shaft 185. A common housing 191 for the power devices is suitably provided. A rear end of the drive shaft 185 is rotary attached to a rear end of the common housing 191 via a ball bearing 192, and a forward end of the drive shaft 185 has rotary engagement with the hollow interior of the shaft 184 via a ball bearing 193, and suitably with an adjacent sealing 194. The tubular drive shaft 184 is supported by the housing 191 via ball bearings 195 and 196. A sealing 197 is adjacent the bearing 196 in order to seal off at an end wall 198 of the machine housing 101. The housing 101 has another end wall 199, as shown. In the embodiment of Figs.17a – 17f there is used a single vane 200; 201 on the rotary parts 102; 103, yielding that the process housing 101 is provided with one radial inlet 202 and one radial outlet 203. In the embodiment of Figs.18a – 18f there is used a two vanes 204, 205; 206, 207 on the rotary parts 102; 103, yielding that the process housing is provided with two radial inlets 208, 209 and two radial outlets 210, 211. In the embodiment of Figs.19a – 19f there is used a three vanes 212, 213, 214; 215, 216, 217 on the rotary parts 102; 103, yielding that the process housing is provided with three radial inlets 218 - 220 and three radial outlets 221 - 223. In the embodiment of Figs.20a – 20f there is used a four vanes 224 - 227; 228 - 231 on the rotary parts 102; 103, yielding that the process housing is provided with four radial inlets 232 - 235 and four radial outlets 236 - 239. Through the previous descriptions of various types of embodiments, different variants of process housing and its inlet(s) and outlet(s) have been disclosed. One general type is related radially disposed inlets and outlets, as shown on Figs.13a – 13d, 14a – 14c, 15a – 15c and 16a – 16c, and as shown on Figs.17a – 17f, 18a – 18f, 19a -19f and 20a – 20f. It will be appreciated that the axial approach shown on Figs.9a – 9d, 10a – 10c, 11a -11c and 12a – 12c could be applied onto the radial inlets / outlets approach on Figs.13a – 13d, 14a – 14c, 15a – 15c, 16a – 16c to yield conversion into an axial approach. Thus, the process housing 101 would in such a case have no radial inlets and outlets, and the end wall surface 105 and 106 would have inlets 105’ and outlets 106’, respectively at region thereof radially outside the surface of the shaft casing 160. A hybrid solution is shown on Figs.21a – 21c, 22a – 22c, 23a – 23c and 24a – 24c. This is an approach which could be used through amendment of the machine type as shown on Figs. 3 and 4, Figs.13a – 13d, 14a – 14c, 15a – 15c, 16a – 16c and Figs.17a – 17f, 18a – 18f, 19a -19f and 20a – 20f. Figs.21a – 21c, 22a – 22c, 23a – 23c and 24a – 24c are related to use of rotary parts 102; 103 each having one, two, three and four vanes, respectively. Thus, Figs. 21a – 21c show one radial outlet 240 and one axial inlet 241. Figs.22a – 22c show two radial outlets 242, 243 and two axial inlets 244, 245. Fig.23a – 23c show three radial outlets 246 - 248 and three axial inlets 249 - 251. Further, Figs.24a – 24c show four radial outlets 252 – 255 and four axial inlets 256 – 259. If more suitable for another application, the outlets could instead be the axially located ones, and the inlets could be the radially located ones. It will be appreciated that the process housing 101 with its end walls 105, 106 may assume one of several variants, dependent on operating conditions and locations, as well as deployment of the power devices, How the operation as regards rotational control of the power devices may take effect will now be described with reference to Figs.1 and 2, Figs.25a – 25p; 26a -26b; 27a – 27b and 28a – 28b, as well as Tables 1 – 6. It will be recalled that the common electronic control unit 112 provides first and second power device control signals via input lines 110’; 111’ to a respective one of the two power device operation units 110; 111, the control signals being respective ones of time related arrays of desired angular positions of the rotary parts 102; 103, and governed by θinMaster and the K-factor involving maximum displacement angle α and number nv of vanes on each rotor part 102; 103. Thus, it will be appreciated that the respective ones of the time related arrays of desired angular positions of the rotary parts control instantaneous mutual angular positions of the rotary parts. The respective ones of time related arrays of desired angular positions of the rotary parts are derivable from respective angular position tables defining angular positions of the rotary parts through a respective 360° rotary cycle and as governed by and related to said θinMaster. The instantaneous angular positions of the rotary parts 102; 103 in tabular format may as an outset be mathematically derived. However, the angular positions in tabular format are adjustable to thereby deviate from the exact mathematical definition by at least one of: a) adjusting one or multiple instantaneous angular positions of the rotary parts, respectively, b) adjusting rate of change of instantaneous angular positions of the rotary parts, respectively, to yield amendment of set instantaneous mutual angular velocities of the rotary parts. c) adjusting for number of vanes ^^^^^^^^on each rotary part of the machine, and d) adjusting displacement angle α to be at a maximum value or less. As indicated above, the angular positions in tabular format as derived by the control unit 112 are amendable by manual processing at the HMI interface 113, before delivering the amended tabular arrays, i.e. amended angular positions in tabular format, to the control unit 112 for further processing therein. Manual adjustment of position values as disclosed in tabular format is suitably to achieve constant speed between a closed and open displacement chamber. Another purpose may be to apply a constant torque as required to close and open displacement chambers. This approach could even be an adaptive process adjustment operation, implying that the system learns the torque required to close and open displacement chambers. It will be recognized that the total number of rotary part vanes 2^^^^vin the process housing 101 corresponds to the sum of process housing input ports and process housing output ports, the number of input ports and output ports, respectively, being equal as shown and described. The maximum mutual displacement angle α within the process housing 101 is of course related to size of vane angle dimensions in direction of its rotation to yield maximum available space or displacement between a vane of Rotor A and a vane of Rotor B. The angular positions tables have the instantaneous angular positions of the rotary parts defined by angle values, said values related to the common θinMaster values through a range of 360°. The number instantaneous angle values as related to θinMaster may be set according to operational modes and required angular increments. In practise there is a smooth “sliding” movement of Rotor A and Rotor B with no distinct interspaces between increments. In the following description the rotary parts 102; 103 have for clarity reasons only been defined as Rotor A and Rotor B. Further, the term “operational sectors” implies that the number of sectors along a 360° circle is determined by the number of vanes per rotary part or Rotor. It should be observed that each sector contains one inlet and one outlet. Thus, one or more operational sectors are present in the machine by virtue of each rotor having one or more vanes, a first one 102 of the rotors being named Rotor A and a second one 103 being named Rotor B. In order to mathematically define the desired instantaneous angular rotor positions ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^and ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^, these positions are derived based on one of embodiments a) through d):a) Rotors with one vane, number of vanes on each rotor being ^^^^^^^^ = 1:^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [0°, 180°^ ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [180°, 360°^^^^^ 360° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [0°, 180°^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) =�^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [180°, 360°^b) Rotors with two vanes, number of vanes on each rotor ^^^^^^^^ = 2:^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [0°, 90°^^^^^ ( )^^^^^^^^ (^^^^ ) = 180° − ^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [90°, 180°^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 180° + ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^ ∈ [180°, 270°^î360° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [270°, 360°^^^^^^^^^^^^^ c) Rotors with three vanes, number of vanes on each rotor ^^^^^^^^ = 3:ì ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [0°, 60°^ï120° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [60°, 120°^ï^^^^ 120° + ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [120°, 180°^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) =í240° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [180°, 240°^ïï 240° + ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [240°, 300°^î360° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [300°, 360°^ì360° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [0°, 60°^ï^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [60°, 120°^ï^^^^ 120° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [120°, 180°^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) =í120° + ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [180°, 240°^ïï 240° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [240°, 300°^î240° + ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [300°, 360°^d) Rotors with four vanes, number of vanes on each rotor ^^^^^^^^ = 4: wherein and wherein K is a factor limited by a maximum displacement angle α) of the or each operationalsector of the machine, and is defined by ^^^^ = Thus, ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^and ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^are the desired rotational velocities of the rotors and derived based on: where ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^is the common angular velocity derived from a derivative of ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^. Accordingly, angle tables as in Table 1, Table 3 and Table 5 can be mathematically defined for the instantaneous angular positions of Rotor A and Rotor B through 360°, related to the Master reference being θinMaster. The attached tables illustrate angle values in steps of 10°, although in practise the steps will be much smaller or even appear as continuously changing, Steps less than 1° - 5° is feasible. The steps are normally set as small as possible according to operation properties of the power device operation units 110; 111. On Table 1, some of the indicated angle positions of Rotor A and Rotor B have been selected, as indicated on Fig.26a and presented on Figs.25a – 25p to illustrate physical angular position of Rotor A and Rotor B. In order easily identify the vane positions through their movement through 360°, the vanes of Rotor A have been labelled A1 and A2, and the vanes of Rotor B have been labelled B1 and B2. Tables 1 through 6 and corresponding Figs.26a through 28b have been based on each rotary part A and B having two vanes. Tables 1 through 6 are shown at the end of the written description. It is important to note in the present context that the non-limiting mathematically derived angle values are represented in Fig.25a – 25p, with reference to Tables 1, 3 and 5, and Figs. 26a, 27b and 28b. Further, it must be observed that the table values presented in Tables 2, 4 and 6 with reference to Figs.26b, 27b and 28b are manually amended table values compared to the mathematically defined table values as shown in Tables 1, Table 3 and Table 5, respectively. Thus, Figs.26a, 27a and 28a are mathematically based, whereas Figs.26b, 27b and 28b, respectively graphically represent manually modified table values which deviate distinctly from the mathematically derived Tables 1, 3 and 5. The dedicated amendments may be made only at partial locations in the selected table or more extensively, dependent on power ratings and dynamics of the power devices 108; 109. These different tables and figures take as, as mentioned above, as an outset that each rotary part 102; 103 or Rotor A and Rotor B has two vanes, and the differences are thus caused by a desired maximum displacement angle α yielding three different values of the constant K. The maximum displacement angle α is an outset governed by the angular width of the vanes in direction of rotation thereof, as indicated above. It is interesting to observe, by way of Tables 2, 3 and 6 referring to Figs.26b, 27b and 28b how the mathematically derived angle values as shown in Tables 1, 3 and 5 may be amended or manipulated as may be desirable to match power available and dynamic response of the power devices 108; 109, and also the fluid medium to be displaced, its density or viscosity. However, in amending the angle values of Rotor A and Rotor B to yield e.g. any one of Table 2, 4 or 6, it must be observed that any maximum angle difference or displacement must on no account be adjusted to exceed the physically defined maximum displacement angle α. As mere non-limiting example, in a pumping or compression mode of the system, it will be appreciated that, in one sector, as e.g. Rotor vane A1 accelerates to facilitate pumping or compression, Rotor vane B1 will decelerate, i.e. be in a retardation, but still moving, thereby causing the power device in question to enter into a generator way of operation. In a next sector as regards rotary positions of the rotary parts, rotor vane A1 may be subject to deceleration (i.e. a retardation) while vane B1 accelerates. Studying Figs.26b, 27b and 28b it will be noted that some “graphical curves” are steeper than others, implying increased rotor movement per time unit, and the other ones having a less slope, but all being linear, implying a smooth uniform rotor movement within such a section of linearity and causing less power and mechanical stress on the power devices used. Conversely, if the present system is to operate not as a pump or compressor system, but rather that pressurized fluid, such as e.g. pressurized air or steam is supplied to the process housing 101, the power device operation units 110; 111, controlled from the common electronic control unit 112, will in any case determine the instantaneous required angular positions of Rotor A and Rotor B (the rotary parts 102 and 103), and the power devices 108; 109, such as electric generators, will counteract and adjust to the fluid pressure acting thereon in order to maintain their mathematically set or amended instantaneous angle values and mutual angle difference in accordance with the table values on which positional definitions of Rotor A and Rotor B are based. Thus, in the expander mode of the system power provided by the pressurized fluid will be converted into power (such as electric power) deliverable by the power devices 108; 109. In the expander mode, the pressurized fluid delivered to the process housing 101 will flow or expand through it. The fluid inlet(s) and outlet(s) of the compressor or pump mode can be used in the expander mode, but then the rotation of the rotary parts will be in the opposite direction. In case the same direction is desired, then fluid inlet(s) and fluid outlet(s) as in the compressor or pump mode will switch locations, thus yielding in such a case that compressor or pump inlet(s) will now appear as expander fluid outlet(s), and the compressor or pump fluid outlet(s) will now appear as expander fluid inlet(s) It is also observed that the common electronic control unit 112, irrespective of operation mode of the system, will provide the same type of position commands to the power device operation units 110; 111, and these power device operation units will receive positional feedbacks with reference to the housing of the process 101 from the angular position encoders 114; 115 and cause the Rotor A and Rotor B to oppose the fluid force with sufficient power available on the rotors to maintain rotor positions within acceptable angle limits. Suitably, the position feedback signal from the angular position encoders 115; 116 could be actual angular position of a rotary shaft of the power device 108; 109 as related to a fixed reference related to the process housing 101. The power device operation units 110; 111 may set such regeneration at the rotors to be within the full range of such generator capacity. The power device operation unit 110; 111 may in some applications operate as a power inverter. As a non-limiting example, the unit 110; 111 may receive 400VAC from the power supply 122 and convert it to 580VDC to drive the power device 108; 109 at a correct motor voltage. However, it will be appreciated that if DC power from the power supply 122 is received by the power device operation unit 110; 111, no conversion is required. In a generator mode, DC power deliverable from the power device 108; 109 to the unit 110; 111 may or may not require conversion to AC. From the foregoing description with reference to the drawings, it is appreciated that the mutual angular positions of the rotary parts 102; 103 are repeated within each sector. The power device operation units 110; 111 are thus each configured to provide rotary position data of the rotary parts 102; 103 to the respective power device 108; 109 with reference to the process housing 101. Suitably, first and second position data of the rotary parts 102; 103, respectively, can be provided with amended instantaneous position data in a time domain by a respective one of the power device operation units 110; 111 as controlled by the common electronic control unit 112 if set angular velocities of the rotary parts 102; 103 are to be changed. The generation of position data in the time domain is made by substituting input angular position of the respective rotary part by ω·t. The process housing fluid outlets may suitably have an arcuate length in degrees being 5 – 110 % of the arcuate length in degrees of a vane of the rotary parts 102; 103. This depends on setup of a “dead volume” or to short circuit pressure peaks from outlet to inlet. Finally, in association with the system of the present invention, the invention also provides for a method of operationally controlling a machine system 100 having a positive displacement, centric rotary, reciprocating type of machine 101 with a pair of rotary parts 102, A; 103, B. The method is related to attached Fig.29. The method comprises: a) initiating by a human-machine interface 113; HMI a manual start procedure of the system 257 by letting a common electronic control unit 112 read 258 from the interface 113; HMI initial system set-up features and deciding 259 by the control unit 112 whether or not to proceed with the manual start procedure of the system, and if proceeding: moving to step b); b) causing the control unit 112 to read 260 from the interface 113; HMI mechanically related start-up parameters 261 to generate start position motion profiles for use by a pair of rotary power devices 108; 109 driving the pair of rotary parts 102, A; 103, B, said start-up parameters 261 being selected from one or more of: - b1) total number 2nv of vanes in the machine; - b2) maximum displacement angle α between a vane of one rotary part 102 and an adjacent vane of the other rotary part 103; and - b3) initial angular starting position of a rotary shaft 108’; 109’ of each of the power devices 108; 109 and its attached rotary part 102, A; 103, B; c) causing the control unit 112 to: - c1) firstly deliver 262 start position motion profile to a first power device operation unit 110 to enable 263 the first power device 108 it controls to rotate its rotary shaft 108’ and its attached rotary part 102, A to its initial angular position, and - c2) secondly deliver 264 start position motion profile to a second power device operation unit 111 to enable 265 the second power device 109 it controls to rotate its rotary shaft 109’ and its attached rotary part 103, B to its initial angular position; d) causing the control unit 112 to read 266 from the interface 113 further set-up parameters 267 selected from: - either d1a) mathematical formulas for calculation, by the control unit 112, of tabular arrays of rotary position related angles θoutRotorA and θoutRotorB) of each rotary part 102, A; 103, B with a Master angle input θinMaster reference, - or d1b) a dedicated at least partial modification of the tabular arrays as mathematically calculated by the control unit 112 in step d1a); - d2) a constant factor K being a function of b1) and b2); - d3) master angular velocity ω·t inMaster based on timing related master angle input θinMaster; - d4) acceptance limits of rotary position error of the rotary shaft 108’; 109’ of each of the power devices 108; 109 and its attached rotary part 102, A; 103, B; e) generate 268 in the control unit 112 motion profiles for all actual tabular time related continuous steps of angular movement; f) delivering 269 the readings 268 in step e) into the power device operation units 110; 111 to cause the rotary shaft 108’; 109’ of each of the power devices 108; 109 and its attached rotary part 102, A; 103, B to continuously rotate 270 to its actual time-related rotary angular position; g) using an encoder 114; 115 to continuously read 271 an angular position of the rotary shaft 108’; 109’ of each of the power devices 108; 109 and delivering its readings to a comparator 116 in each of the power device operation units 110; 111; h) comparing 272 in the comparator 116 the readings 268 of step e) as received by the power device operation units 110; 111 with the readings from the encoder 114;115 to determine: - either h1) if any position error exceeds set limit(s): disable 273 cause the power operation units 110; 111 to disable operation of the power devices 108; 109 to stop 274 operation of the system 100, or h2) if no position error beyond the set limit(s) exist, then monitor 275 at the interface 113 a performance of the system 100, enabling system performance data to be read 276 from the interface 113 into the control unit 112, and awaiting at the control unit 112 input from the interface 113 to determine 277 whether to: - either h2a) stop 274 the system 100 by causing the power operation units 110; 111 to disable 273 operation of the power devices 108; 109 if a presence of an operational state of: normal end of time of operation of the system or system performance faults or anomalities other than position errors, - or h2b) in absence of no such operational state, returning to step d) if the interface instead requires adjustment of said further parameters. The mentioned performance faults or anomalities could e.g. be related to excess machine operation temperature, unexpected operation temperature increase in the power device operation units 110; 111, the control unit 112, the power devices 108; 109, any unexpected operational noise or vibrations in the system, or any adverse fluid leakage from the process housing 101 of the machine. From studying Fig.29, it will be appreciated that step b) above is directly related to number of vanes on each rotary part and independent of the angular rotational speed and tabular format as highlighted in step d).

[0002] θ_inMaster[°] θ_outRotorA[°] θ_outRotorB[°] Note 0 0,00 270,00 See Fig.33a 10 15,75 276,29 20 30,21 282,82 See Fig.33b 30 42,73 289,84 40 53,32 297,67 45 57,99 302,01 See Fig.33c 50 62,33 306,68 60 70,16 317,27 70 77,18 329,79 See Fig.33d 80 83,71 344,25 90 90,00 360,00(=0,00) See Fig.33e 100 96,29 15,75 110 102,82 30,21 See Fig.33f 120 109,84 42,73 130 117,67 53,32 135 122,01 57,99 See Fig.33g 140 126,68 62,33 150 137,27 70,16 160 149,79 77,18 See Fig.33h 170 164,25 83,71 180 180,00 90,00 See Fig.33i 190 195,75 96,29 200 210,21 102,82 See Fig.33j 210 222,73 109,84 220 233,32 117,67 225 237,99 122,01 See Fig.33k 230 242,33 126,68 240 250,16 137,27 250 257,18 149,79 See Fig.33l 260 263,71 164,25 270 270,00 180,00 See Fig.33m 280 276,29 195,75 290 282,82 210,21 See Fig.33n 300 289,84 222,73 310 297,67 233,32 315 302,01 237,99 See Fig.33o 320 306,68 242,33 330 317,27 250,16 340 329,79 257,18 See Fig.33p 350 344,25 263,71 360 360,00(=0,00) 270,00 See Fig.33a Rotors with 2 vanes, number of vanes on each rotor nv = 2 Equation inputs: K = 1.6 ; nv = 2; Instantaneous values of θ in Master Table 1 θ_inMaster[°] θ_outRotorA[°] θ_outRotorB[°] Note 0 0,00 270,00 10 12,89 277,11 20 25,78 284,22 30 38,66 291,34 40 51,55 298,45 45 57,99 302,01 50 61,55 308,45 60 68,66 321,34 70 75,78 334,22 80 82,89 347,11 90 90,00 360,00(=0,00) 100 97,11 12,89 110 104,22 25,78 120 111,34 38,66 130 118,45 51,55 135 122,01 57,99 140 128,45 61,55 150 141,34 68,66 160 154,22 75,78 170 167,11 82,89 180 180,00 90,00 190 192,89 97,11 200 205,78 104,22 210 218,66 111,34 220 231,55 118,45 225 237,99 122,01 230 241,55 128,45 240 248,66 141,34 250 255,78 154,22 260 262,89 167,11 270 270,00 180,00 280 277,11 192,89 290 284,22 205,78 300 291,34 218,66 310 298,45 231,55 315 302,01 237,99 320 308,45 241,55 330 321,34 248,66 340 334,22 255,78 350 347,11 262,89 360 360,00(=0,00 270,00 Rotors with 2 vanes, number of vanes on each rotor nv = 2 Equation inputs: K = 1.6 ; nv = 2; Instantaneous values of θ in Master Manual input for combined position, speed and torque motor operation Table 2 θ_inMaster[°] θ_outRotorA[°] θ_outRotorB[°] Note 0 0,00 270,00 10 19,43 275,04 20 36,05 280,31 30 49,11 286,10 40 59,21 292,76 45 63,43 296,57 50 67,24 300,79 60 73,90 310,89 70 79,69 323,95 80 84,96 340,57 90 90,00 360,00(=0,00) 100 95,04 19,43 110 100,31 36,05 120 106,10 49,11 130 112,76 59,21 135 116,57 63,43 140 120,79 67,24 150 130,89 73,90 160 143,95 79,69 170 160,57 84,96 180 180,00 90,00 190 199,43 95,04 200 216,05 100,31 210 229,11 106,10 220 239,21 112,76 225 243,43 116,57 230 247,24 120,79 240 253,90 130,89 250 259,69 143,95 260 264,96 160,57 270 270,00 180,00 280 275,04 199,43 290 280,31 216,05 300 286,10 229,11 310 292,76 239,21 315 296,57 243,43 320 300,79 247,24 330 310,89 253,90 340 323,95 259,69 350 340,57 264,96 360 360(=0,00) 270,00 Rotors with 2 vanes, number of vanes on each rotor nv = 2 Equation inputs: K = 2.0 ; nv = 2; Instantaneous values of θ in Master Table 3 θ_inMaster[°] θ_outRotorA[°] θ_outRotorB[°] Note 0 0,00 270,00 10 14,10 275,90 20 28,19 281,81 30 42,29 287,71 40 56,39 293,61 45 63,43 296,57 50 66,39 303,61 60 72,29 317,71 70 78,19 331,81 80 84,10 345,90 90 90,00 360,00(=0,00) 100 95,90 14,10 110 101,81 28,19 120 107,71 42,29 130 113,61 56,39 135 116,57 63,43 140 123,61 66,39 150 137,71 72,29 160 151,81 78,19 170 165,90 84,10 180 180,00 90,00 190 194,10 95,90 200 208,19 101,81 210 222,29 107,71 220 236,39 113,61 225 243,43 116,57 230 246,39 123,61 240 252,29 137,71 250 258,19 151,81 260 264,10 165,90 270 270,00 180,00 280 275,90 194,10 290 281,81 208,19 300 287,71 222,29 310 293,61 236,39 315 296,57 243,43 320 303,61 246,39 330 317,71 252,29 340 331,81 258,19 350 345,90 264,10 360 360,00(=0,00) 270,00 Rotors with 2 vanes, number of vanes on each rotor nv = 2 Equation inputs: K = 2.0 ; nv = 2; Instantaneous values of θ in Master Manual input for combined position, speed and torque motor operation Table 4 θ_inMaster[°] θ_outRotorA[°] θ_outRotorB[°] Note 0 0,00 270,00 10 27,88 273,36 20 47,52 276,92 30 60,00 280,89 40 68,33 285,63 45 71,57 288,43 50 74,37 291,67 60 79,11 300,00 70 83,08 312,48 80 86,64 332,12 90 90,00 360,00(=0,00) 100 93,36 27,88 110 96,92 47,52 120 100,89 60,00 130 105,63 68,33 135 108,43 71,57 140 111,67 74,37 150 120,00 79,11 160 132,48 83,08 170 152,12 86,64 180 180,00 90,00 190 207,88 93,36 200 227,52 96,92 210 240,00 100,89 220 248,33 105,63 225 251,57 108,43 230 254,37 111,67 240 259,11 120,00 250 263,08 132,48 260 266,64 152,12 270 270,00 180,00 280 273,36 207,88 290 276,92 227,52 300 280,89 240,00 310 285,63 248,33 315 288,43 251,57 320 291,67 254,37 330 300,00 259,11 340 312,48 263,08 350 332,12 266,64 360 360(=0,00) 270,00 Rotors with 2 vanes, number of vanes on each rotor nv = 2 Equation inputs: K = 3.0 ; nv = 2; Instantaneous values of θ in Master Table 5 θ_inMaster[°] θ_outRotorA[°] θ_outRotorB[°] Note 0 0,00 270,00 10 15,90 274,10 20 31,81 278,19 30 47,71 282,29 40 63,61 286,39 45 71,57 288,43 50 73,61 296,39 60 77,71 312,29 70 81,81 328,19 80 85,90 344,10 90 90,00 360,00(=0,00) 100 94,10 15,90 110 98,19 31,81 120 102,29 47,71 130 106,39 63,61 135 108,43 71,57 140 116,39 73,61 150 132,29 77,71 160 148,19 81,81 170 164,10 85,90 180 180,00 90,00 190 195,90 94,10 200 211,81 98,19 210 227,71 102,29 220 243,61 106,39 225 251,57 108,43 230 253,61 116,39 240 257,71 132,29 250 261,81 148,19 260 265,90 164,10 270 270,00 180,00 280 274,10 195,90 290 278,19 211,81 300 282,29 227,71 310 286,39 243,61 315 288,43 251,57 320 296,39 253,61 330 312,29 257,71 340 328,19 261,81 350 344,10 265,90 360 360,00(=0,00) 270,00 Rotors with 2 vanes, number of vanes on each rotor nv = 2 Equation inputs: K = 3.0 ; nv = 2; Instantaneous values of θ in Master Manual input for combined position, speed and torque motor operation Table 6

Claims

CLAIMS 1. A machine system having a positive displacement, centric rotary reciprocating type of machine, the system comprising: - a non-rotatable process housing (101) of the machine which surrounds a pair of first and second mutually movable rotary parts (102; 103) having co-axial axes of rotation, the process housing exhibiting an inner, circular curved surface (104) and two planar, parallel inner end wall surfaces (105; 106), - a rotary drive shaft (102’; 103’) for each of the rotary parts (102; 103), and - at least one fluid inlet (105’) and at least one fluid outlet (106’) on the process housing selectively communicating with at least one adjustable angular space created by mutual rotary movement of at least one vane on each of the first and second rotary parts within the process housing, wherein each rotary drive shaft of the pair of rotary drive shafts (102’; 103’) is linked to an associated power device (108; 109) having associated therewith a power device operation unit (110; 111) having a control signal inlet (110’; 111’), a power inlet (122’) and a power signal outlet (110”; 111”), wherein each power device (108; 109) receiving assigned timing and angular position controlled electrical power signals from its respective power device operation unit (110; 111), the timing and angular position controlled electrical power signals being related to cyclically preset instantaneous rotary angular positions of the rotary drive shafts, respectively to mutually yield cyclically preset instantaneous angular position differences of the rotary drive shafts (102’; 103’), respectively, wherein both power device operation units (110; 111) being connected to, controlled from, and receiving assigned timing and angular position controlled signals (ωoutRotorA; ωoutRotorB) from a common electronic control unit (112), respectively, and further being connected (122’) to a power supply (122), wherein both power device operation units (110; 111) are set to operate in a continuous, uninterrupted mode to drive the power devices (108; 109) and their related machine rotary parts (102; 103) accordingly, and wherein the pair of power devices (108; 109) being configured to provide coordinated joint and continuous operation of the pair of machine rotary parts (102; 103).

2. The system of claim 1, wherein the common electronic control unit (112) provides first and second power device timing and angular position controlled signals (ωoutRotorA; ωoutRotorB) to a respective one of the two power device operation units (110; 111), the timing and angular position controlled signals being respective ones of time related arrays of desired angular positions of the rotary parts (102; 103).

3. The system of claim 1 or 2, wherein the respective ones of the time related arrays of desired angular positions of the rotary parts control instantaneous mutual angular positions of the rotary parts.

4. The system of any one of claims 1 – 3, wherein respective ones of time related arrays of desired angular positions of the rotary parts are derivable from respective angular position tables defining angular positions of the rotary parts (102; 103) through a respective 360° rotary cycle.

5. The system of claim 4, wherein the angular position tables are adjustable by at least one of: a) adjusting one or multiple instantaneous angular positions (θoutRotorA; θoutRotorB) of the rotary parts, respectively, b) adjusting rate of change of instantaneous angular positions (θoutRotorA; θoutRotorB) of the rotary parts, respectively, to yield set instantaneous mutual angular velocities of the rotary parts, c) adjusting for number of vanes ^^^^^^^^on each rotary part of the machine, d) adjusting displacement angle α to be at a maximum value or less.

6. The system of claim 5, wherein the total number of vanes 2^^^^^^^^of the rotary parts in the machine corresponds to the sum of machine inlets and machine outlets, the number of inlets and outlets, respectively, being equal.

7. The system of claim 5, wherein the maximum value of displacement angle α is a function of vane angle dimension in direction of its rotation.

8. The system of claims 4 or 5, further wherein the angular positions tables have the instantaneous angular positions of the rotary parts defined by angle values, said values related to common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^values through a range of 360°.

9. The system of claim 8, wherein the ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^values through the range of 360° are set as an adjustable number of angle values.

10. The system of claim 9, wherein the angular positions of each rotary part are related to angular position data of the ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^values through the range of 360° thereof.

11. The system of any one of claims 4 - 10, wherein one or more operational sectors are present in the machine by virtue of each rotor having one or more vanes, a first one of the rotors being named RotorA and a second one being named RotorB, wherein ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^and ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^are the desired instantaneous rotor positions derived based on one of embodiments a) through d):a) Rotors with one vane, number of vanes on each rotor being ^^^^^^^^ = 1:b) Rotors with two vanes, number of vanes on each rotor being ^^^^^^^^ = 2:c) Rotors with three vanes, number of vanes on each rotor being ^^^^^^^^ = 3:d) Rotors with four vanes, number of vanes on each rotor being ^^^^^^^^ = 4:whereinand wherein K is a factor limited by a maximum displacement angle α of the or each operationalsector of the machine, and is defined by ^^^^12. The system of claim 11, wherein ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^and ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^are the desired rotational velocities of the rotors and derived based on:where ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^is the common angular velocity derived from the derivative of ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^.

13. The system of any one of claims 1 – 12, wherein mutual angular positions of the rotary parts are repeated within each operational sector.

14. The system of any one of claims 1 – 13, wherein the term “operational sectors” implies that the number of sectors along a 360° circle is determined by the number of vanes per rotary part or Rotor (RotorA; RotorB).

15. The system of any one of claims 11 – 14, wherein rotary position tables referring to mathematically derived angle values (θoutRotorA; θoutRotorB) for Rotor A and Rotor B as related to Master angle values (θinMaster) through 0°- 360° are applicable to controlling movement of the rotary part (RotorA; RotorB).

16. The system of claim 15, wherein the mathematically derived position tables are manually amendable to change mode of operation of the rotary parts (102; 103 or RotorA; RotorB) to suit one or more of: available power and dynamics of the power devices (108; 109), increased acceleration or deceleration of at least one of the rotary parts (102; 103 or RotorA; RotorB), and increased or decreased rate of change of rotational velocity.

17. The system of any one of claims 1 – 16, wherein the power device operation units (110; 111) are each configured to generate rotary position data to a respective power device (108; 109) with reference to the process housing (101).

18. The system of any one of claims 1 – 17, wherein first and second position data of the rotary parts (102; 103), respectively, are provided with amended rotary position data in a time domain by a respective one of the power device operation units (110; 111) if set angular velocities of the rotary parts are changed.

19. The system of any one of claims 1 - 18, wherein each power device (108; 109) has associated therewith an angular position encoder (114; 115) delivering rotary position feedback data to a respective power device operation unit (110; 111) based on angular position of the rotary power shaft (108’; 109’) of the power device (108; 109) with reference to the process housing (101).

20. The system of claim 18, wherein the generation of position data in the time domain is made by substituting input rotation angle of the respective rotary part by ω·t.

21. The system of claim 1, wherein the first and second ones of the rotary parts (102; 103) has a hub (121) and at least one or more vanes extending radially therefrom, a drive shaft (102’; 103’) extending from the hub (121), a radially outermost end of the one or more vanes exhibits a curved configuration to be controllably movable along an inner circular curved wall surface (104) of the process housing (101), two other opposite, parallel vane regions of the one or more vanes being movable relative to planar inner end wall surfaces (105; 106) of the process housing (101), each inlet and each outlet of the machine communicate with successive ones of one or more adjustable angular spaces defined between the vane(s) of the first rotary part (102) and the second rotary part (103), and an axial dimension (Lh) of the hub being a half dimension of an axially directed thickness (Lv) of the one or more vanes of the rotary parts (102; 103).

22. The system of any one of claims 1 – 21, wherein in a pump, compressor or expander configuration the machine outlets have an arcuate length in degrees being 5 – 110 % of the arcuate length in degrees of a vane of the rotary parts.

23. The system of any one of claims 1 - 20, wherein in the expansion mode of the system, a position feedback signal of angular position of a rotary shaft of the power device is deliverable to a respective power device operation unit.

24. The system of any one of claims 1 - 22, wherein the power device operation unit operates as a power inverter.

25. The system of any one of claims 1 - 24, wherein the system is configured to provide any one of: pump operation, compressor operation and expander operation.

26. A method of operationally controlling angular rotary positioning within a machine system (100) having a positive displacement, centric rotary, reciprocating type of machine with a pair of rotary parts (102, A; 103, B), the method comprising: a) initiating by a human-machine interface (113; HMI) a manual start procedure of the system (257) by letting a common electronic control unit (112) read (258) from the interface (113; HMI) initial system set-up features and deciding (259) by the control unit (112) whether or not to proceed with the manual start procedure of the system, and if proceeding: moving to step b); b) causing the control unit (112) to read (260) from the interface (113; HMI) mechanically related start-up parameters (261) to generate start position motion profiles for use by a pair of rotary power devices (108; 109) driving the pair of rotary parts (102, A; 103, B), said start-up parameters (261) being selected from one or more of: - b1) total number (2nv) of vanes in the machine; - b2) maximum displacement angle (α) between a vane of the one rotary part (102) and an adjacent vane of the other rotary part (103); and - b3) initial angular starting position of a rotary shaft (108’; 109’) of each of the power devices (108; 109) and its attached rotary part (102, A; 103, B); c) causing the control unit (112) to: - c1) firstly deliver (262) start position motion profile to a first power device operation unit (110) to enable (263) the first power device (108) it controls to rotate its rotary shaft (108’) and its attached rotary part (102, A) to its initial angular position, and- c2) secondly deliver (264) start position motion profile to a second power device operation unit (111) to enable (265) the second power device (109) it controls to rotate its rotary shaft (109’) and its attached rotary part (103, B) to its initial angular position; d) causing the control unit (112) to read (266) from the interface (113) further set-up parameters (267) selected from: - either d1a) mathematical formulas for calculation, by the control unit 112, of tabular arrays of rotary position related angles (θoutRotorA and θoutRotorB) of each rotary part (102, A; 103, B) with a Master angle input (θinMaster) reference, - or d1b) a dedicated at least partial modification of the tabular arrays as mathematically calculated by the control unit (112) in step d1a); - d2) a constant factor K being a function of b1) and b2); - d3) Master angular velocity (ω·t in Master) based on timing related master angle input (θinMaster); - d4) acceptance limits of rotary position error of the rotary shaft (108’; 109’) of each of the power devices (108; 109) and its attached rotary part (102, A; 103, B); e) read (268) in the control unit (112) motion profiles for all actual tabular time related continuous steps of angular movement; f) delivering (269) the readings (268) in step e) into the power device operation units (110; 111) to cause the rotary shaft (108’; 109’) of each of the power devices (108; 109) and its attached rotary part (102, A; 103, B) to continuously rotate (270) to its actual time-related rotary angular position; g) using an encoder (114; 115) to continuously read (271) an angular position of the rotary shaft (108’; 109’) of each of the power devices (108; 109) and delivering its readings to a comparator (116) in each of the power device operation units (110; 111); h) comparing (272) in the comparator (116) the readings (268) of step e) as received by the power device operation units (110; 111) with the readings from the encoder (114;115) to determine: - either h1) if any position error exceeds set limit(s): disable (273) to cause the power device operation units (110; 111) to disable operation of the power devices (108; 109) to stop (274) operation of the system (100), or h2) if no position error beyond the set limit(s) exist, then monitor (275) at the interface (113) a performance of the system (100), enabling system performance data to be read (276) from the interface (113) into the control unit (112), and awaiting at the control unit (112) input from the interface (113) to determine (277) whether to:- either h2a) stop (274) the system (100) by causing the power device operation units (110; 111) to disable (273) operation of the power devices (108; 109) if a presence of an operational state of: normal end of time of operation of the system or system performance faults or anomalities other than position errors, - or h2b) in absence of no such operational state, returning to step d) if the interface (113) instead requires adjustment of said further parameters.

27. The method of claim 26, wherein respective ones of time related arrays of desired angular positions of the rotary parts are derivable from respective angular position tables defining angular positions of the rotary parts through a respective 360° rotary cycle.

28. The method of claim 26 or 27, wherein the angular positions position tables are adjustable by at least one of: a) adjusting one or multiple instantaneous angular positions (θoutRotorA; θoutRotorB) of the rotary parts, respectively, b) adjusting rate of change of instantaneous angular positions (θoutRotorA; θoutRotorB) of the rotary parts, respectively, to yield set instantaneous mutual angular velocities of the rotary parts, c) adjusting for number of vanes ^^^^^^^^on each rotary part of the machine, d) adjusting displacement angle α to be at a maximum value or less.

29. The method of any one of claims 26 - 28, wherein the total number of rotary part vanes 2^^^^^^^^in the machine corresponds to the sum of process housing inlets and process housing outlets, the number of inlets and outlets, respectively, being equal.

30. The method of claim 28, wherein the maximum displacement angle α is related to vane angle dimension in direction of its rotation.

31. The method of any one of claims 27 - 30, further wherein the angular positions tables have the instantaneous angular positions of the rotary parts defined by angle values, said values related to common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^values through a range of 360°.

32. The method of claim 31, wherein the ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^values through the range of 360° are set as an adjustable number of angle values.

33. The method of claim 32, wherein the angular positions of each rotary part are related to angular position data of the ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^values through the range of 360° thereof.

34. The method of any one of claims 26 - 33, wherein one or more operational sectors are present in the machine by virtue of each rotor having one or more vanes, a first one of the rotors being named RotorA and a second one being named RotorB, wherein ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^and ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^are the desired instantaneous rotor positions derived based on one of embodiments a) through d):a) Rotors with one vane, number of vanes on each rotor being ^^^^^^^^ = 1:b) Rotors with two vanes, number of vanes on each rotor being ^^^^^^^^ = 2:î180° + ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [270°, 360°^c) Rotors with three vanes, number of vanes on each rotor being ^^^^^^^^ = 3:ì^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [0°, 60°^ï120° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [60°, 120°^ï^^^^ 120° + ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [120°, 180°^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) =í240° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [180°, 240°^ïï 240° + ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [240°, 300°^î360° − ^^^^^^^^^^^^^^^^^^^^(^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^) ^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ∈ [300°, 360°^d) Rotors with four vanes, number of vanes on each rotor being ^^^^^^^^ = 4:

35. The method of claim 34, wherein ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^and ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^are the desired rotational velocities of the rotors and derived based on:where ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^is the common angular velocity derived from the derivative of ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^.

36. The method of any one of claims 26 – 35, wherein mutual angular positions of the rotary parts are repeated within each operative sector.

37. The method of any one of claims 26 – 36, wherein the term “operational sectors” implies that the number of sectors along a 360° circle is determined by the number of vanes per rotary part or Rotor.

38. The method of any one of claims 26 – 37, wherein rotary position tables referring to mathematically derived angle values (θoutRotorA; θoutRotorB) for Rotor A and Rotor B as related to Master angle values (θinMaster) through 0°- 360° are applicable to controlling movement of the rotary part (RotorA; RotorB).

39. The method of claim 38, wherein the mathematically derived position tables are manually amendable to change mode of operation of the rotary parts (102; 103 or RotorA; RotorB) to suit one or more of: available power and dynamics of the power devices (108; 109), increased acceleation or deceleration of at least one of the rotary parts, and increased or decreased rate of change of rotational velocity.

40. The method of any one of claims 26 – 39, wherein the method is operative with a system as claimed in any one of the system claims 1- 25.

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