| 侯利民,高艺馨,石晨.多永磁同步电机有限时间领导-跟随转速协同控制[J].电子测量与仪器学报,2026,40(3):198-207 |
| 多永磁同步电机有限时间领导-跟随转速协同控制 |
| Speed collaborative control for multi-PMSMs with finite-timeleader-following consensus |
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| DOI： |
| 中文关键词: 多永磁同步电机 多智能体系统 有限时间收敛 无向拓扑 |
| 英文关键词:multi-PMSM multi-agent systems finite-time convergence undirected topology |
| 基金项目:国家自然科学基金（52177047）项目资助 |
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| 中文摘要: |
| 针对多永磁同步电机(permanent magnet synchronous motor,PMSM)传统耦合控制方法结构复杂、计算量大等问题，提出了一种多电机智能体系统有限时间领导 跟随转速协同控制新方法。首先，基于永磁同步电机的多智能体系统数学模型，构建了依赖于无向通信拓扑的分布式有限时间转速一致性控制协议。同时，针对系统中的不确定扰动与未建模动态，引入了一个超螺旋扩展状态观测器（STESO）进行实时估计，并将观测结果融入一致性协议实现补偿，从而得到期望的q轴电流。其次，通过构造李雅普诺夫函数，对所提出控制器的有限时间收敛性进行了严格理论证明，并给出收敛时间上界估计。最后，在3台永磁同步电机调速系统实验平台上与偏差耦合控制算法进行了对比实验。实验结果表明，在升降速、加减载和正反转工况下，该方法均表现出优越性能。转速最大抖振从传统方法的3 r/min降至0.5 r/min以下，同步误差显著减小，且在负载扰动下能快速平滑地恢复至设定转速。实验证明所提方案具有同步精度高、收敛快、鲁棒性强的特点，为高性能多电机协同控制提供了有效解决方案。 |
| 英文摘要: |
| Aimed at the issues of structural complexity and high computational burden for permanent magnet synchronous motor (PMSM) traditional coupled control methods, a novel finite-time leader-following speed cooperative control method based on a multi-agent system is proposed. Relying on an undirected communication topology, a distributed finite-time speed consensus protocol is constructed based on the multi-agent mathematical model of PMSMs. Meanwhile, in order to deal with uncertain disturbances and unmodeled dynamics in the system, a super-twisting extended state observer (STESO) is introduced for real-time estimation, and the observation results are incorporated into the consensus protocol for compensation, thereby deriving the desired q-axis current. Furthermore, by constructing a Lyapunov function, rigorous theoretical proof of the finite-time convergence of the proposed controller is provided, along with an upper bound estimate of the convergence time. Finally, comparative experiments with the deviation coupling control algorithm are carried out on an experimental platform comprising three PMSM speed regulation systems. Results show that under conditions of speed variation, load changes, and forward-reverse rotation, the proposed method exhibits superior performance the maximum speed jitter is reduced from 3 r/min with the traditional method to below 0.5 r/min, synchronization error is significantly decreased, and the speed can recover smoothly and rapidly to the set value under load disturbances. Experimental results verify that the proposed scheme achieves high synchronization accuracy, fast convergence, and strong robustness, and provides an effective solution for high-performance multi-motor cooperative control. |
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