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This can be a simple 2 contactors with overloads pulling in with the same coil signal or we can get very complex and fit vsd's that track as a master and slave... depends on the nature and precision required.
Do VSD offer the equivalent of torque control for this sort of thing?

For big DC servos that needed zero backlash it was a common trick to have the armature current deliberately offset by a small-ish amount so the two motors would have a more or less constant tension between them to take up free play on the drive train, but I have never had to look at the AC motor equivalent (so far).
 
You can achieve really anything now with ac motors that dc was often spec'd for, closed loop ac with encoder can deliver 100% torque at 0.5hertz, you can incorporate a feed back from say a dancer arrangement to either maintain a torque or set speed along a line of several motors.
I have done them in the past but can be very complicated to do if your just dipping your toe in.
 

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