Cooperative Speed Control of Multiple Permanent Magnet Synchronous Motors

To solve the problem of poor speed synchronization of multiple motors in the pull machines under sudden changes in pulling, this paper proposes a novel non-singular fast terminal sliding mode control (NTSMC) algorithm based on the perturbation observer and current predictive controller. The perturbation observer is used to compensate the velocity loop and the current predictive controller can regulate the current loop to further improve the system's perturbation resistance and dynamic performance. The pulling machines' system with multiple permanent magnet synchronous motors (PMSM) adopts the improved deviation-coupled control structure to realize the cooperative speed control of multiple motors called 'central balanced motor compensation'. The simulation experiments demonstrate that the proposed control strategy (TPCS) reduces the initial stabilization time by 0.03s and 0.01s, the speed synchronization error by 35r/min and 23r/min and the settling time by 0.01s and 0.05s after perturbation respectively compared to proportional integral control strategy (PICS) and traditional sliding mode control strategy (TSMCS).