多智能体系统固定时间一致性的多永磁同步电机转速协同控制  

Fixed-Time Consensus Multi-Agent Systems Based Speed Coordination Control for Multiple Permanent Magnet Synchronous Motors

作　　者：侯利民[1] 兰骁儒 赵世杰 李政龙 Hou Limin;Lan Xiaoru;Zhao Shijie;Li Zhenglong(Faculty of Electrical and Control Engineering,Liaoning Technical University,Huludao 125105,China)

机构地区：[1]辽宁工程技术大学电气与控制工程学院,葫芦岛125105

出　　处：《电工技术学报》2024年第20期6345-6356,共12页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金资助项目(52177047)。

摘　　要：为了提高多电机转速协同控制精度,该文提出一种多智能体系统固定时间一致性的多永磁同步电机转速协同控制新思想。首先,将多永磁同步电机调速系统视为一个多智能体系统,设计了基于无向通信拓扑图的固定时间一致性协议;同时,设计了固定时间滑模观测器估计扰动并在一致性协议中引入前馈补偿,从而得到期望的q轴电流。然后,在矢量控制调速系统的框架下设计了固定时间互补滑模电流控制器,用于跟踪q轴参考电流。利用李雅普诺夫函数分别证明了控制器和观测器可以在与系统初始状态无关的情况下实现固定时间内收敛。最后,在三台永磁同步电机调速系统实验平台上与传统偏差耦合控制算法进行了对比实验验证,证明了所提控制算法的可行性和鲁棒性。For modern complex industrial production processes,the speed synchronization control precision of multi-motor speed regulation systems is an extremely critical performance indicator.Therefore,this paper proposes a concept of fixed-time multi-agent consistency for the speed-coordinated control of multiple permanent magnet synchronous motors(multi-PMSMs).Multi-agent systems(MASs)have advantages such as flexibility,reliability,and strong self-organizing capabilities.Considering the inherent similarity between consensus control of MASs and coordinated control of multi-motor speed,each motor system can be viewed as a MAS.Graph theory describes agent communication,and a fixed-time consensus protocol is designed.Meanwhile,a fixed-time sliding mode observer is utilized to estimate disturbances and introduced into the consensus protocol,thereby obtaining the desired q-axis current.Then,within the framework of the field-oriented control,a fixed-time complementary sliding mode current controller is designed to track the q-axis reference current.The fixed-time convergence of both the controller and observer is proven using Lyapunov functions regardless of the initial state of the system.On the experimental platform with three PMSMs,the proposed control algorithm is validated and compared with the traditional deviation coupling control(DCC)algorithm through experiments involving speed-up and speed-down,load increase and decrease,and forward and reverse rotation.The speed-up and speed-down experiments indicate that the proposed control algorithm can accurately track the given speed.The transition process is relatively smooth without significant overshoot.During the steady-state process,the chattering amplitude of the proposed control algorithm is around 3 r/min,which is significantly lower than the approximately 5 r/min of the traditional DCC algorithm.The load increase and decrease experiments show that when load disturbances occur,the proposed control algorithm can restore the speed to the set value within a short time.Becau

关 键 词：多永磁同步电机 多智能体系统 固定时间滑模观测器 固定时间互补滑模控制 

分 类 号：TM351[电气工程—电机]