Fixed-Time Speed Coordination Control for Multi-PMSMs Based on Consensus of MAS

In order to enhance the precision of coordinated control for the speed of multiple permanent magnet synchronous motors(multi-PMSMs), a distributed fixed-time speed tracking consensus control method based on multi-agent theory is proposed for the speed coordinated control system of multi-PMSMs. Firstly, the speed control system of multi-PMSMs is regarded as a multi-agent system, a distributed consensus protocol is designed to achieve the consensus of the system speeds within a fixed-time, and obtain the expected q-axis current through the consensus protocol, the fixed-time stability of the consensus protocol is proven using Lyapunov functions. A fixed-time sliding mode observer (FSMO) is designed to estimate the load disturbance and friction torque, and feed-forward compensation into the consensus protocol. Secondly, a fixed-time sliding mode current controller is designed for the q-axis current loop of each individual PMSM speed control system, which ensures fast tracking of the actual current of the PMSM to the desired current. Finally, the feasibility and effectiveness of the proposed control scheme are verified through experiments on three PMSMs speed control system.