Fixed-Time Consensus Protocols of Multiagent Systems Based Speed Coordinated Control for Multiple Permanent Magnet Synchronous Motors Under Vector Control System

The speed coordinated control methods for multiple permanent magnet synchronous motors (multi-PMSMs) based on the consensus of multiagent systems (MASs) are proposed, which provide a new idea to achieve speed coordinated control of multimotors using artificial intelligence. First, the vector control system of individual motor is regarded as an agent, which can interact with its neighbors for information exchange based on the undirected communication network, and the speed coordinated control problem is transformed into the consensus control problem of MASs. A basic fixed-time consensus protocol (FTCP) is proposed and analyzed in this article. However, the limitation of FTCP lies in its non-smoothness, which makes the system prone to chattering problems. Therefore, a smooth improved fixed-time consensus protocol (IFTCP) is designed, which does not contain the sign function. Second, the supertwisting extended state observer is employed to estimate the disturbances in the system and perform feed-forward compensation into the consensus protocol, thereby obtaining the desired q-axis current. Then, a fixed-time complementary sliding mode control current controller is designed to track the q-axis reference current. Finally, the two proposed methods are compared with the deviation coupling control method on the experimental platform to verify the effectiveness and feasibility. The experimental results show that both the FTCP and IFTCP methods exhibit excellent tracking performance and enhanced robustness, the IFTCP method can better suppress the chattering phenomenon of the system.