Improved Relative Coupling Cooperative Control for Multi-motor Driving System

Research on Speed Cooperative Control Strategy for Rudderless Dual-PMSM Propulsion Ships

“…Ref. [16] proposed a novel simplified compensator strategy for the coordinated control of multiple motors. This strategy effectively reduces the complexity of the RCC system.…”

“…where H represents the coupling deviation coefficients matrix between the motors (details of matrix H can be found in [16]).…”

“…It is necessary to consider the cooperative performance and stability of the dual motors under various steering maneuvers (different given speed commands). Therefore, inspired by [16], this study addressed the practical control requirements of dual propulsion motors (the dual motors will be, respectively referred to as motor-A and motor-B hereafter), and proposed a variable error difference compensation-coupling control (VEDC-CC) strategy.…”

“…Therefore, ref. [16] introduced an improved relative coupling control strategy that only considered the coupling effects between the adjacent motors. For different given commands, this strategy proposed a simplified coupling matrix, thereby reducing the complexity of the coupling control system and achieving multi-motor coordination under different given commands.…”

“…However, the coupling precision of this strategy needs further improvement, and it has not undergone further investigation regarding coupling performance under sudden load disturbances. Therefore, this study built upon the strategy presented in [16], proposing a variable error difference compensation-coupling control (VEDC-CC) strategy which takes both the cooperative control effect of dual-PMSM under different given speed commands and the coupling performance with sudden load disturbances into account. This strategy was also designed to meet the practical navigation requirements of a rudderless dual-motor propulsion ship.…”