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基于多智能体系统一致性的多台永磁同步电机定时领导者跟随速度一致性控制

Fixed-time leader-following speed consensus control for multi-PMSMs based on multi-agent systems consensus.

作者信息

Li Bin, Chai Hongxu, Hou Limin

机构信息

Liaoning Technical University, Huludao, China.

出版信息

Sci Rep. 2025 Sep 24;15(1):32738. doi: 10.1038/s41598-025-18061-3.

DOI:10.1038/s41598-025-18061-3
PMID:40993157
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12460676/
Abstract

Consensus control of multi-agent systems offers scalability and robustness in group tasks. To improve the performance of multiple permanent magnet synchronous motors (multi-PMSMs) speed coordination, in this paper, we propose a fixed-time leader-following speed consensus control for multi-PMSMs based on multi-agent systems consensus. First, the concept of multi-agent systems is introduced and the multi-PMSMs speed control system is modeled as a first-order multi-agent systems subject to perturbations. Next, a fixed-time consensus protocol is designed based on an undirected graph, and construct a fixed-time extended state observer (ESO) to feedforward perturbation estimates into the protocol. The resulting consensus protocol provides the desired q-axis current for the speed control system, with the upper bound of the settling time independent of the initial conditions. Finally, the feasibility and effectiveness of the proposed scheme are validated by comparing it with relative-coupling control scheme on an experimental multi-PMSMs speed control platform.

摘要

多智能体系统的一致性控制在群体任务中具有可扩展性和鲁棒性。为了提高多台永磁同步电机（multi - PMSMs）速度协调的性能，本文基于多智能体系统一致性提出了一种针对多台永磁同步电机的固定时间领导者 - 跟随者速度一致性控制方法。首先，介绍了多智能体系统的概念，并将多台永磁同步电机速度控制系统建模为受扰动的一阶多智能体系统。其次，基于无向图设计了一种固定时间一致性协议，并构造了一个固定时间扩张状态观测器（ESO）将扰动估计前馈到该协议中。所得到的一致性协议为速度控制系统提供期望的q轴电流，其调节时间的上界与初始条件无关。最后，通过在多台永磁同步电机速度控制实验平台上与相对耦合控制方案进行比较，验证了所提方案的可行性和有效性。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/833c7469c600/41598_2025_18061_Fig11_HTML.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/37228873d28e/41598_2025_18061_Fig2_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/038e6cc9ed5a/41598_2025_18061_Fig3_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/a27bd3340502/41598_2025_18061_Fig4_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/a626e08bf6cc/41598_2025_18061_Fig5_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/b81947c79133/41598_2025_18061_Fig6_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/af0f3de4cb7b/41598_2025_18061_Fig7_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/6001a3d3f982/41598_2025_18061_Fig8_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/2f6fcdb5d2fd/41598_2025_18061_Fig9_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/25c73e67568e/41598_2025_18061_Fig10_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0634/12460676/833c7469c600/41598_2025_18061_Fig11_HTML.jpg

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