Abstract：With the rapid development of industrial automation and smart manufacturing industries, multi-motor cooperative operation applications have become increasingly prevalent. There is a growing demand for higher control precision and flexibility in multi-motor speed cooperative control systems. This paper proposes a novel concept of speed coordination control for multiple permanent magnet synchronous motors (PMSMs) with customized convergence time. Multi-agent system (MAS) cooperative control has demonstrated significant advantages in addressing complex system consensus problems due to its flexibility, scalability, and robustness. Leveraging the intrinsic connection between multi-motor speed coordination control and MAS consensus control, this paper presents a multi-PMSM speed cooperative control strategy based on MAS leader-following consensus with customized convergence time. First, each PMSM speed regulation system is regarded as an agent, transforming the multi-motor speed coordination problem into a MAS consensus problem. Considering leader-following relationships, the communication between motor systems is represented through undirected communication topology graphs. A leader-following consensus control protocol with customized convergence time is proposed, and its convergence within the specified time is demonstrated using Lyapunov stability theory. Subsequently, considering the impact of load disturbances on system performance, a double-power extended state observer is introduced to estimate disturbances and compensate them into the sliding mode control structure, thereby obtaining the desired q-axis current. Under the cascaded vector control system for PMSMs, high-performance coordinated speed control of multiple motors is achieved. Comparative experiments on speed acceleration/deceleration, forward-reverse rotation, and load variation were conducted using the semi-physical simulation platform with three PMSMs and the deviation coupling control method. The speed acceleration/deceleration experiments demonstrate that the proposed scheme achieves smooth speed transitions without overshooting during startup and speed changes. In steady-state operation, the proposed method's synchronization and tracking errors remained around 4 r/min, and the deviation coupling control exceeded 10 r/min. The forward-reverse rotation experiments show that the proposed method maintained speed regulation without overshoot, with tracking and synchronization errors stabilized around 1 r/min, significantly lower than the 5 r/min of the deviation coupling method. Load variation experiments reveal that motor speed fluctuations remain around 20 r/min during load changes and rapidly recover to 400 r/min using the proposed control scheme, with post-recovery tracking and synchronization errors confined to 2 r/min. In contrast, the deviation coupling control exhibits speed fluctuations exceeding 35 r/min and post-stabilization errors around 10 r/min. The proposed control scheme effectively reduces speed tracking errors, enhances synchronization accuracy, and demonstrates superior robustness. Finally, three startup experiments with different initial speeds and custom time-convergence tests were conducted. The results validate that the proposed scheme achieves consistent tracking from varying initial speeds and customized time convergence. This paper proposes a novel multi-motor speed cooperative control method. By modeling multiple PMSM speed regulation systems as a MAS and designing a leader-following consensus control protocol with custom convergence time under an undirected communication topology, the coordinated speed control of multiple motors is realized within a cascaded vector control system framework. Comparative experiments with the deviation coupling control algorithm confirm the feasibility and effectiveness of the proposed method, demonstrating significant advantages in terms of synchronization precision and disturbance rejection.
侯利民, 石晨, 关蒙. 多智能体自定义收敛时间一致性的多永磁同步电机转速协同控制[J]. 电工技术学报, 2025, 40(18): 5918-5930.
Hou Limin, Shi Chen, Guan Meng. Speed Cooperative Control for Multi-PMSMs Based on Multi-Agent Systems with Customized Convergence Time. Transactions of China Electrotechnical Society, 2025, 40(18): 5918-5930.
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