基于自适应积分滑模与扰动观测的多PMSM同步控制

为了克服多电机差速失步振荡及同步稳定性变差等问题，提出了基于新型自适应积分滑模和扰动观测的多 PMSM 同步控制方法。首先，构建了一种改进型偏差耦合同步控制结构。其次，设计了基于新型自适应积分滑模(new adaptive integral sliding mode control, NAISMC)的 PMSM 控制器。同时，利用滑模扰动观测器(sliding mode disturbance observer, SMDO)对电机负载扰动进行观测，并与改进的偏差耦合同步控制结构相结合，提出了基于NAISMC与SMDO的多 PMSM 的改进型偏差耦合同步控制方法。最后，进行了实验分析。其结果表明所提出的同步控制方法能有效地保证4个电机具有良好的同步性能，提高了其抗扰动的能力，确保了多电机同步的稳定性。

Multi-PMSM synchronous control based on adaptive integral sliding mode and disturbance observation

To overcome the problems of multi motor differential out-of-step oscillation and poor synchronization stability, a multi-PMSM synchronous control method based on a new adaptive integral sliding mode and disturbance observation is proposed. First, an improved bias-coupled synchronous control structure is constructed. Then, a PMSM controller based on a new adaptive integral sliding mode control (NAISMC) is designed. The sliding mode disturbance observer (SMDO) is used to observe the motor load disturbance, and is combined with an improved deviation coupling synchronous control structure. An improved multi-PMSM deviation coupling synchronous control method based on NAISMC and SMDO is proposed. Finally, experimental analysis is done. The results show that the synchronous control method proposed in this paper can effectively ensure that the four motors have good synchronization performance, improves their anti-disturbance ability, and ensures the stability of multi-motor synchronization. This work is supported by the National Natural Science Foundation of China (No. 51605003 and No. 51575001).