Abstract：With the advancement of modern industrial automation, the collaborative control of multiple permanent magnet synchronous motors (multi-PMSMs) has become a research focus. To enhance the synchronization performance and tracking accuracy of multi-PMSMs collaborative control systems, this paper proposes a fixed-time optimized consensus speed control method based on multi-agent systems (MAS). Multi-agent consensus control has scalability and reasoning ability as a distributed control approach. This paper applies multi-agent consensus theory to the collaborative control of multi-PMSMs, considering the system as a multi-agent system. Graph theory describes the information exchange relationships among the motors, and a fixed-time distributed state observer is designed based on local information to estimate the state of a virtual leader, ensuring that each motor obtains the local objective function gradient accurately. A fixed-time optimized speed consensus protocol is designed, from which the desired q-axis current is derived to ensure that the speed of each motor reaches consensus and converges to the optimized trajectory. A fixed-time extended state observer is then employed to estimate system disturbances, and the estimated disturbance value is compensated in the consensus protocol to enhance disturbance rejection. Lyapunov functions demonstrate that the designed observer and consensus protocol can achieve convergence within a fixed time. The proposed control method is validated on a three-motor speed control platform and compared with a relative coupling control method. Experimental results for both forward and reverse speed operations show that the proposed method achieves consensus motor speeds, and the designed fixed-time distributed state observer accurately tracks the virtual leader's state. During acceleration and deceleration, the proposed method demonstrates no overshoot, and the transition is smooth. In the steady state, the proposed method yields a speed fluctuation of only 0.5 r/min, compared to 2 r/min for relative coupling control. The tracking and synchronization errors are 1 r/min and 1.5 r/min, respectively, significantly lower than the 1.7 r/min and 2.2 r/min errors for relative coupling control. Furthermore, the proposed control method includes a fixed-time extended state observer to estimate and compensate disturbances, ensuring quick motor speed adjustments when the load changes, thus maintaining synchronization and tracking performance in the multi-PMSMs collaborative control system. In load variation experiments, when the loads of multiple motors change at the same time, the proposed method exhibits a speed fluctuation of 20 r/min and a q-axis current fluctuation of 0.31 A, which is significantly lower than the 80.3 r/min and 0.99 A fluctuations of relative coupling control. When load changes occur at different times for each motor, the other motors adjust accordingly, reducing synchronization errors in the system. The proposed method also responds well to asynchronous load variation, reducing system synchronization errors. Experimental results demonstrate that the proposed control method provides superior synchronization performance and robustness compared to traditional relative coupling control, with reduced overshoot during startup and smaller steady-state speed fluctuations. The key conclusions of this paper can be summarized as follows. (1) This paper applies multi-agent consensus theory to model the coordinated control system of multi-PMSMs as a multi-agent system. A fixed-time distributed state observer is designed to estimate the state of a virtual leader, enabling the acquisition of the gradient information of each local function. (2) A fixed-time optimized speed consensus protocol is proposed, using a fixed-time extended state observer to estimate and compensate for system disturbances. This protocol directly obtains the desired q-axis current, enabling all motors to reach consensus and converge to the optimized trajectory within a fixed time. (3) The proposed method shows significant advantages over traditional approaches.
侯利民, 李政龙, 赵世杰, 兰骁儒. 基于多智能体系统的多永磁同步电机固定时间优化转速一致性控制[J]. 电工技术学报, 2025, 40(20): 6487-6498.
Hou Limin, Li Zhenglong, Zhao Shijie, Lan Xiaoru. Fixed-Time Optimized Consensus Speed Control of Multiple Permanent Magnet Synchronous Motors Based on Multi-Agent Systems. Transactions of China Electrotechnical Society, 2025, 40(20): 6487-6498.
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