| 曹锦楠,赵凯辉,罗美芸,贾林,张昌凡.复杂通信拓扑下多永磁同步电机转速协同控制策略[J].电子测量与仪器学报,2026,40(4):168-181 |
| 复杂通信拓扑下多永磁同步电机转速协同控制策略 |
| Cooperative control strategy for speed of multi-PMSMs undercomplex communication topology |
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| DOI： |
| 中文关键词: 多永磁同步电机 多智能体系统 二部一致性 无模型滑模控制 改进型变幂次趋近律 |
| 英文关键词:multi-permanent magnet synchronous motors multi-agent system bipartite consensus model-free sliding mode control improved variable power reaching law |
| 基金项目:国家自然科学基金（52572375, 62303178）、湖南省自然科学基金项目（2026JJ80067, 2026JJ90264）、湖南省研究生科研创新项目（CX20251659）资助 |
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| Author | Institution |
| Cao Jinnan | School of Transportation and Electrical Engineering, Hunan University of Technology, Zhuzhou 412007,China |
| Zhao Kaihui | School of Transportation and Electrical Engineering, Hunan University of Technology, Zhuzhou 412007,China |
| Luo Meiyun | School of Transportation and Electrical Engineering, Hunan University of Technology, Zhuzhou 412007,China |
| Jia Lin | School of Transportation and Electrical Engineering, Hunan University of Technology, Zhuzhou 412007,China |
| Zhang Changfan | School of Transportation and Electrical Engineering, Hunan University of Technology, Zhuzhou 412007,China |
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| 中文摘要: |
| 针对无人机编队、工业机械臂等多电机系统因通信拓扑符号化、路径有向化、外部干扰等导致转速协同控制精度下降的问题，提出一种基于二部一致性控制协议的多永磁同步电机转速协同控制策略。首先，将单永磁同步电机矢量控制系统视为智能体，多永磁同步电机转速协同控制问题转化为含虚拟领航者的二部一致性问题，并依据竞争关系进行分部、以权重系数直接参与调节、基于入边权重求和的原则来设计分布式控制协议。其次，为领航永磁同步电机设计基于改进型变幂次趋近律的滑模转速环控制器，同时采用基于超局部模型设计领航电机与各跟随电机的电流环无模型滑模控制器，以提升多电机系统的控制精度和抗干扰能力。最后，通过构建5台永磁同步电机仿真平台验证。结果表明，空载工况下，系统能够在有限时间内实现高精度转速跟踪，稳态跟踪误差低于0.006%；在负载扰动下，该方法对均质及异质负载扰动均具备良好的抑制能力；在通信拓扑切换导致连通性下降时，尽管协同误差略有增大，但整体收敛时间与稳态跟踪误差稳定。该方法为复杂通信拓扑下多永磁同步电机高精度、强鲁棒转速协同控制提供了一种有效解决方案。 |
| 英文摘要: |
| To address issues such as communication topology symbolization, path directionality and external interference that cause a decline in speed coordination control accuracy in multi-motor systems such as unmanned aerial vehicle formations and industrial robotic arms, this paper proposes a speed coordination control strategy for multiple permanent magnet synchronous motors based on bipartite consensus. First, each single motor control system is considered an intelligent body, and the multi-permanent magnet synchronous motor speed cooperative control problem is transformed into a bipartite consensus problem containing a virtual navigator. The distributed control protocol is designed based on the principles of dividing by competitive relationships, directly participating in weight shares, and summation adjustment by in-degree weights. Second, a sliding mode speed loop controller based on an improved variable power reaching law is designed for the permanent magnet synchronous motors. Simultaneously, an ultra-local model-based design of model-free sliding-mode controllers for the current loops of the leader motor and each of the follower motors is used to improve the control accuracy and anti-interference capability of the multi-motor system. Finally, the proposed method is validated by constructing a simulation platform for five permanent magnet synchronous motors. Under no-load condition, it can realize high-precision speed tracking within a finite time, and the steady state tracking error is lower than 0.006%; under load disturbance, it can effectively inhibit both homogeneous and heterogeneous load disturbance conditions. When connectivity decreases due to communication topology switching, the overall convergence time and steady-state tracking error remain stable despite a slight increase in collaborative error. This method provides an effective solution for the high-precision and robust speed cooperative control of multiple permanent magnet synchronous motors under complex communication topologies. |
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