Multi-PMSM sliding mode speed cooperative control method based on leader-following consistency

The invention provides a multi-PMSM sliding mode speed cooperative control method based on leader-following consistency, and relates to the technical field of multi-PMSM speed cooperative control. The core thought of the method is that a multi-permanent magnet synchronous motor system is regarded as a leader-following multi-agent system, a mathematical model of the leader-following multi-agent system is constructed according to a permanent magnet synchronous motor mathematical model, and a leader tracking controller is designed according to the mathematical model; a self-adaptive consistency protocol is designed, a disturbance observer is designed to estimate unknown disturbance, an estimated value is fed forward and compensated into the consistency protocol, and a calculation result of the consistency protocol is used as a q-axis current reference signal in field-oriented control after equivalent substitution; and a sliding mode current controller is designed according to the current integral sliding mode su