Total-Amount Coordinated Finite-Time Control of Multi-Motors With Saturation Constraints

Abstract

For the multi-motor traction finite-time control (FTC) system with input saturation constraints, considering parameter simplification of "adding a power integrator" (AAPI) and anti-windup (AW), a total-amount coordinated tracking control (TACTC) strategy based on nonsingular terminal sliding mode (NTSM) is proposed to ensure the global finite-time stability and effectively reduce energy consumption. First, a traction model of multiple permanent magnet synchronous motors (PMSMs) with uncertain parameter perturbations and external disturbances was established. Next, a finite-time auxiliary AW system was designed and the auxiliary state was fed back to TACTC. Then, the strong constraint of parameters of AAPI was relaxed, the setting rules of the corresponding parameters were given and the proof of finite-time Lyapunov stability was completed. Finally, the excellent performance of parameter simplification of AAPI and the controller was verified by the Matlab/Simuink simulation and RT-Lab semiphysical experiment of the multi-motor traction system, which shows that the control strategy can suppress the input saturation effect in the multi-motor traction system effectively.

MPC-Based Coordination Control of Dual Direct-Drive Permanent Magnet Motors Used in Coal Mining Belt Conveyors

“…Hence, this section presents the mathematical model of the permanent magnet motor to establish a basis for subsequent investigations. The commonly used state-space model that describes both electrical and mechanical properties of PMMs can be written as follows [15]:…”

Finite-time funnel synchronization control based on distributed observer for multi-motor driving systems with input saturation

“…In [17], a nonlinear optimal finite-time controller based on the state-dependent Riccati equation method was designed for the multi-motor driving system to enhance system robustness and control performance. Focusing on the multi-motor traction system with input saturation constraints, a total-amount coordinated finite-time tracking control strategy based on nonsingular terminal sliding mode was given to ensure the global finite-time stability and effectively reduce energy consumption [18]. In [19], using a filtering error compensation system and considering the convergence speed and torque synchronization errors, an finite-time command-filtered backstepping control method for dualmotor servo systems was put forward, which can further improve the tracking performance.…”