Multi-permanent magnet synchronous motor cooperative control method based on multi-agent consistency

Abstract

The application discloses a multi-permanent magnet synchronous motor cooperative control method based on multi-agent consistency, and relates to the technical field of motor control. The application estimates the comprehensive disturbance of the permanent magnet synchronous motor by using a supercoil expansion state observer, feeds back the limited-time multi-agent consistency protocol, suppresses the chattering phenomenon caused by the switching function, converges in a limited time, designs the limited-time multi-agent consistency protocol to obtain the expected q-axis current, has higher expansibility and faster calculation speed, does not affect the operation of the whole multi-permanent magnet synchronous motor cooperative control system due to the fault of a single permanent magnet synchronous motor, and designs two controllers. Under the control of the coordination controller, the zero-error current controller and the passive controller based on the port-controlled Hamilton system are combined, the current fast tracking performance of the system is balanced, the energy loss during the steady operation of the system is saved, and the whole cooperative control system has better dynamic performance and steady performance.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a cooperative control method for multiple permanent magnet synchronous motors based on multi-agent consensus. Background Technology

[0002] In recent years, permanent magnet synchronous motors (PMSMs) have been widely used in new energy vehicles, aerospace, high-speed trains, and robotics due to their advantages such as small size, high power density, high efficiency, and high torque-to-inertia ratio. With the rapid development of robotics and industrial control, the collaborative control of multiple PMSMs has attracted increasing attention. Traditional collaborative control methods for multiple PMSMs, such as master-slave control, parallel control, cross-coupling, and deviation coupling, have many limitations, including slow response speed, susceptibility to forward interference, and poor scalability. Furthermore, in high-dimensional robotics and some complex operating conditions, it is necessary to achieve collaborative control of more PMSMs. Existing collaborative control methods for multiple PMSMs suffer from complex compensator structures when the number of motors is large, and cannot guarantee communication between all PMSMs, resulting in poor performance. Therefore, a distributed control method is needed to achieve collaborative control of multiple PMSMs. In recent years, the theory of multi-agent consensus has received widespread attention. Finite-time distributed protocols based on multi-agent consensus can make the multidimensional states of multiple agents converge in a finite time. Distributed control protocols have advantages such as fast response speed, high reliability, and high scalability. In multi-agent systems, the distributed control protocols designed only need to obtain local information and do not require communication between all agents. Moreover, the failure of a single agent generally does not affect the overall operation of the system. Therefore, it is necessary to propose a cooperative control method for multiple permanent magnet synchronous motors based on a finite-time distributed protocol of multi-agent consensus. Summary of the Invention

[0003] The problem this invention aims to solve is to address the shortcomings of the existing technology by providing a multi-permanent magnet synchronous motor cooperative control method based on multi-agent consensus, thereby solving the problems of slow response speed, susceptibility to disturbances, complex control structure, and inability to perform global communication between permanent magnet synchronous motors in the current multi-permanent magnet synchronous motor cooperative control.

[0004] To achieve the above-mentioned objectives of the present invention, the present invention provides a cooperative control method for multiple permanent magnet synchronous motors based on multi-agent consensus, the method comprising the following steps:

[0005] Step 1: Establish a multi-agent system including a virtual leader and several followers, and establish a mathematical model of a virtual permanent magnet synchronous motor as the virtual leader in the multi-agent system; each follower corresponds to a physical permanent magnet synchronous motor.

[0006] Step 2: Based on the communication between physical permanent magnet synchronous motors, establish a topology graph with a virtual leader to represent the information transmission process between multiple intelligent agents;

[0007] Step 3: Input the desired speed ω0 of the permanent magnet synchronous motor into the virtual leader, and output the actual speed ω of the virtual leader. * ;

[0008] Step 4: Set the actual rotation speed ω of the virtual leader * The desired speed of the physical permanent magnet synchronous motor is used as the reference speed, and the two-phase output current i of each physical permanent magnet synchronous motor is collected in real time during the operation of the physical permanent magnet synchronous motor. i,a i i,b Actual rotational speed ω i and electrical angle θ i And the actual rotational speed ω of each physical permanent magnet synchronous motor was collected. i Transmitted to adjacent physical permanent magnet synchronous motors via network communication;

[0009] Step 5: Based on the actual rotational speed ω of the physical permanent magnet synchronous motor i and the actual speed ω of the adjacent permanent magnet synchronous motor j This yields the self-adjusting exponentiation term α1;

[0010] The calculation method for the self-adjusting power term α1 is as follows:

[0011]

[0012]

[0013] Where α1 is the self-adjusting power term; m is the adjustment factor and m > 2; ω i Let ω be the actual rotational speed of the i-th solid permanent magnet synchronous motor. j ξ represents the actual rotational speed of adjacent physical permanent magnet synchronous motors, where i = 1, 2, 3, ..., N, j = 1, 2, 3, ..., N and j ≠ i, and N is the number of physical permanent magnet synchronous motors; sign(·) represents the sign function; ξ i b is the speed error of the i-th solid permanent magnet synchronous motor; i Let b be the control coefficient of the i-th physical permanent magnet synchronous motor. i =3nω i / 2J i Where n is the number of pole pairs of the permanent magnet synchronous motor; J i ω represents the moment of inertia of a solid permanent magnet synchronous motor. * The desired speed of a physical permanent magnet synchronous motor; a ijLet a be the communication weight between the follower corresponding to the i-th physical permanent magnet synchronous motor and the follower corresponding to the j-th physical permanent magnet synchronous motor. When communication between the two is possible, a ij =1, otherwise, a ij =0.

[0014] Step 6: Based on the collected two-phase output current i of the physical permanent magnet synchronous motor i,a i i,b The output current i of the other phase of the permanent magnet synchronous motor was calculated. i,c The Clark transform of the three-phase output current of the physical permanent magnet synchronous motor is used to obtain the α-axis current component i of the permanent magnet synchronous motor in the α-β coordinate system. i,α and β-axis current component i i,β ;

[0015] Step 7: Based on the collected electrical angle θ i With respect to the α-axis current component i i,α and β-axis current component i i,β Performing the Park transformation yields the actual d-axis current component i of the physical permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system dq-axis. i,d And the actual q-axis current component i i,q ;

[0016] Step 8: Establish the Superspiral Expansion State Observer (STESO) to measure the actual rotational speed ω of the physical permanent magnet synchronous motor. i The q-axis current component i fed back from the solid permanent magnet synchronous motor i,q Input the superspiral expansion state observer and use it to obtain an estimate of the combined disturbance of the physical permanent magnet synchronous motor.

[0017] The superhelical expansion state observer is:

[0018]

[0019] Among them, e i,1 Represents the error in rotational speed observation; z i,1 The actual rotational speed ω of the physical permanent magnet synchronous motor i The estimated value; z i,2 The combined disturbance f of a physical permanent magnet synchronous motor i The estimated value, i.e. z i,1 ,z i,2 The derivative of β; i,1 ,β i,2 It is the observer gain; Where sign(x) is the sign function;

[0020] Step 9: Based on the established multi-agent system, design a finite-time multi-agent consensus protocol, and based on the actual rotational speed ω of the physical permanent magnet synchronous motor. i The actual speed ω of the adjacent solid permanent magnet synchronous motor j And the desired q-axis current i of the permanent magnet synchronous motor is obtained from the self-adjusting power term α1. i,q * ;

[0021] The expression for the finite-time multi-agent consensus protocol is as follows:

[0022]

[0023] Among them, u i This is the control input for the physical permanent magnet synchronous motor, specifically the desired q-axis current i of the i-th physical permanent magnet synchronous motor. i,q * ; α, γ, κ, α2 are all design parameters of the consensus protocol, and satisfy α > 0, γ > 0, κ > 0, α2 > 1; b i Let b be the control coefficient of the i-th physical permanent magnet synchronous motor. i =3nω i / 2J i ;z i z represents the communication weight between the virtual leader and the follower corresponding to the i-th physical permanent magnet synchronous motor. When the virtual leader can communicate with that follower, z... i =1; otherwise, z i =0; ω0 is the set desired speed of the permanent magnet synchronous motor; This is an estimate of the overall disturbance of a physical permanent magnet synchronous motor.

[0024] Step 10: Establish an improved deadbeat-free current loop controller;

[0025] Step 10.1: Establish the mathematical model of the dq axis current of the i-th solid permanent magnet synchronous motor, and use the first-order forward Euler discretization method to obtain the current prediction equation of the solid permanent magnet synchronous motor;

[0026] The current prediction equation for the physical permanent magnet synchronous motor is as follows:

[0027]

[0028] E i,d (k)=L i nω i (k)i i,q (k) (11)

[0029]

[0030] In the formula ω represents the predicted current value of the physical permanent magnet synchronous motor at time k+1 on the d-axis and time k+1 on the q-axis, respectively; i (k) represents the actual rotational speed of the permanent magnet synchronous motor at time k; u i,d (k), u i,q (k) represents the output voltage of the d-axis and the output voltage of the q-axis at time k, respectively, and T is the sampling time of the deadbeat current controller; R i L is the stator resistance of the i-th solid permanent magnet synchronous motor; i Let be the stator inductance of the i-th solid permanent magnet synchronous motor; Let n be the permanent magnet flux linkage of the i-th physical permanent magnet synchronous motor; n is the number of permanent magnet synchronous pole pairs; i i,d (k) represents the d-axis current at time k; i i,q (k) represents the current at time k along the q-axis;

[0031] Step 10.2: Use the current prediction equation of the physical permanent magnet synchronous motor to derive the voltage prediction equation of the physical permanent magnet synchronous motor;

[0032] The voltage prediction equation for the physical permanent magnet synchronous motor is as follows:

[0033]

[0034] Among them, u i,d (k+1) represents the predicted voltage value of the d-axis of the physical permanent magnet synchronous motor at time k+1; u i,q (k+1) represents the predicted voltage value of the q-axis of the physical permanent magnet synchronous motor at time k+1; i i,d * (k) represents the desired d-axis current of the physical permanent magnet synchronous motor at time k; i i,q * (k) represents the desired q-axis current of the physical permanent magnet synchronous motor at time k;

[0035] Step 10.3: Improve the current prediction equation of the physical permanent magnet synchronous motor to obtain the improved current prediction equation;

[0036] The improved current prediction equation is as follows:

[0037]

[0038] in, Let i be the coefficient of each term in equation (17). i (k+1)=[i i,d (k+1),i i,q (k+1)] T , where i i,d(k+1) represents the predicted current value of the d-axis of the improved solid permanent magnet synchronous motor at time k+1; i i,q (k+1) represents the predicted current value of the q-axis of the improved solid permanent magnet synchronous motor at time k+1; i i (k)=[i i,d (k),i i,q (k)] T , where i i,d (k) represents the d-axis current at time k; i i,q (k) represents the current at time k along the q-axis; in E represents the predicted current values ​​at time k+1 on the d-axis and q-axis of the physical permanent magnet synchronous motor, respectively; i (k)=[E i,d (k),E i,q (k)] T E i,d (k)=L i nω i (k)i i,q (k), n is the number of pole pairs of the permanent magnet synchronous motor. Let ω be the permanent magnet flux linkage of the i-th solid permanent magnet synchronous motor. i (k) represents the actual rotational speed of the permanent magnet synchronous motor at time k; u i,d (k) represents the output voltage along the d-axis at time k, u i,d (k+1) represents the predicted voltage value of the d-axis of the physical permanent magnet synchronous motor at time k+1; R i L is the stator resistance of the i-th solid permanent magnet synchronous motor; i Let be the stator inductance of the i-th physical permanent magnet synchronous motor; T is the sampling time of the deadbeat current controller.

[0039] Step 10.4: Substitute the improved current prediction equation into the voltage prediction equation of the physical permanent magnet synchronous motor to obtain the improved deadbeat-free current loop controller.

[0040] The improved deadbeat-free current loop controller is:

[0041]

[0042] Among them, u i,q (k+1) represents the predicted voltage value of the q-axis of the physical permanent magnet synchronous motor at time k+1; u i,d (k+1) represents the predicted voltage value of the d-axis of the physical permanent magnet synchronous motor at time k+1; i i,d * (k) represents the desired d-axis current of the physical permanent magnet synchronous motor at time k; i i,q *(k) represents the desired q-axis current of the physical permanent magnet synchronous motor at time k.

[0043] Step 11: Establish a passive controller for a permanent magnet synchronous motor based on a port-controlled Hamiltonian PCH system;

[0044] Step 11.1 Establish a port-controlled Hamiltonian PCH system and obtain the Hamiltonian function of the port-controlled Hamiltonian system;

[0045] The port-controlled Hamiltonian system is:

[0046]

[0047] Among them, X i The input state vector; The input state vector X i The derivative of H; i (x) is the Hamiltonian function of the port-controlled Hamiltonian system; u i,dq Let u be the dq-axis voltage, where u is the voltage across the dq axis. i,dq =[u i,d ,u i,q ] T J i (x) is the antisymmetric matrix representing the internal interconnection structure of the port-controlled Hamiltonian system, R i (x) is a positive semi-definite matrix representing the damping structure, g i (x) React system port characteristics; y i This is the output state vector;

[0048] The Hamiltonian function of the port-controlled Hamiltonian system is:

[0049]

[0050] Where, x i,j Represents the state vector along the dq axis;

[0051] Step 11.2 Construct the desired Hamiltonian function based on the Hamiltonian function obtained in Step 11.1;

[0052] The desired Hamiltonian function is:

[0053]

[0054] in, Let be the coefficients of the desired Hamiltonian function, and satisfy . p i ,q i For c i The adjustment parameters, and p i <q i <2p i ,qi >p i >1, c i x is the power term of the desired Hamiltonian function; i * For the system's desired equilibrium point, the specific x i * =[i i,d * i i,q * ] T ;

[0055] Step 11.3 Based on the desired Hamiltonian function, construct a passive controller for the permanent magnet synchronous motor based on the port-controlled Hamiltonian PCH system.

[0056] The passive controller for the permanent magnet synchronous motor based on the port-controlled Hamiltonian PCH system is:

[0057]

[0058] Where R i,1 and R i,2 J represents the gain of the damping structure; i,1 Represents the gain of the internal interconnect structure of a port-controlled Hamiltonian system;

[0059] Step 12: Design a coordination controller with speed tracking error as the criterion to switch between the improved deadbeat current loop controller and the passive controller of the permanent magnet synchronous motor based on the port-controlled Hamiltonian PCH system model, and obtain the d-axis voltage component u in the two-phase synchronous rotating coordinate system dq. i,d and q-axis voltage component u i,q ;

[0060] Step 12.1: Calculate the speed tracking error based on the average speed error of multiple permanent magnet synchronous motors;

[0061] Step 12.2: Create the switching function;

[0062] The switching function is:

[0063]

[0064] Where a is the rate of change of the function, t c For the switching period, T c This is to switch the trigger time.

[0065] Step 12.3: Based on the switching function, establish a coordinated controller with speed tracking error as the criterion, and obtain the d-axis voltage component u in the two-phase synchronous rotating coordinate system dq. i,d and q-axis voltage component u i,q .

[0066] The coordination controller using the speed tracking error as the determination condition is:

[0067] When |e x |>δ

[0068]

[0069] When |e x |≤δ

[0070]

[0071] wherein, u s , u e respectively represent the output of the deadbeat current controller and the output of the passive controller;

[0072] Step 13: Perform the Park transformation on the d-axis voltage component u i,d and the q-axis voltage component u i,q of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system d-q -1 to obtain the α-axis voltage component u i,α and the β-axis voltage component u i,β of the permanent magnet synchronous motor on the α-β axis;

[0073] Step 14: Obtain a driving pulse signal by using a pulse width modulation technology according to the α-axis voltage component u i,α and the β-axis voltage component u i,β of the permanent magnet synchronous motor on the α-β axis;

[0074] Step 15: Determine the switching state of the inverter according to the driving pulse signal, invert the DC bus voltage U dc of the permanent magnet synchronous motor into a three-phase AC voltage of the permanent magnet synchronous motor, which is used as the input voltage of the three-phase stator winding of the permanent magnet synchronous motor, so as to realize the control of the rotating speed of the permanent magnet synchronous motor.

[0075] Compared with the prior art, the technical solution adopted by the present invention has the following technical effects:

[0076] This invention utilizes a Superspiral Expanded State Observer (STESO) to estimate the comprehensive disturbance of a permanent magnet synchronous motor (PMSM) and feeds it back to a finite-time multi-agent consensus protocol. The STESO can suppress chattering caused by switching functions and converges in a finite time. A finite-time multi-agent consensus protocol is designed to obtain the desired q-axis current. This protocol offers higher scalability, faster computation speed, and parallel solution across protocols, ensuring that a single PMSM failure does not affect the overall operation of the multi-PMSM collaborative control system. The current loop employs two controllers for switching. The designed deadbeat-free current controller effectively improves current prediction accuracy and enables rapid current tracking. The passive controller based on a port-controlled Hamiltonian (PCH) system has a simple structure, low computational cost, and effectively saves system resources. The current loop design coordinates the combination of a deadbeat current controller and a passive controller based on a port-controlled Hamiltonian system model to achieve complementary advantages, balance the system's fast current tracking performance and save energy loss during steady-state operation. This control method enables the entire multi-permanent magnet synchronous motor cooperative control system to have better dynamic and steady-state performance. Attached Figure Description

[0077] Figure 1 This is a flowchart of a multi-agent consensus-based cooperative control method for multiple permanent magnet synchronous motors in a specific embodiment of the present invention;

[0078] Figure 2 This is a schematic diagram of a multi-agent consensus-based cooperative control method for multiple permanent magnet synchronous motors according to a specific embodiment of the present invention.

[0079] Figure 3 This is the speed response curve of a permanent magnet synchronous motor in a specific embodiment of the present invention;

[0080] Figure 4 The above are the forward and reverse rotation speed response curves of the permanent magnet synchronous motor in a specific embodiment of the present invention.

[0081] Figure 5 This is the speed response curve of the permanent magnet synchronous motor during acceleration and deceleration in a specific embodiment of the present invention;

[0082] Figure 6 This is the speed response curve of the permanent magnet synchronous motor when the load is increased or decreased in a specific embodiment of the present invention;

[0083] Figure 7 This is the q-axis current response curve of the permanent magnet synchronous motor when the load is increased or decreased in a specific embodiment of the present invention;

[0084] Figure 8 This is the d-axis current response curve of the permanent magnet synchronous motor when the load is increased or decreased in a specific embodiment of the present invention;

[0085] Figure 9 The stator current response curve of the permanent magnet synchronous motor when the load is increased or decreased in a specific embodiment of the present invention;

[0086] Figure 10 This is a speed tracking error response curve of a permanent magnet synchronous motor when the load is increased or decreased in a specific embodiment of the present invention;

[0087] Figure 11 The image shows the response curve of the switching function of the permanent magnet synchronous motor coordination controller in a specific embodiment of the present invention. Detailed Implementation

[0088] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0089] This embodiment presents a multi-agent consensus-based cooperative control method for multiple permanent magnet synchronous motors, such as... Figure 1 As shown, the method includes the following steps:

[0090] Step 1: Establish a multi-agent system including a virtual leader and several followers, and establish a mathematical model of a virtual permanent magnet synchronous motor as the virtual leader in the multi-agent system; each follower corresponds to a physical permanent magnet synchronous motor.

[0091] In this embodiment, three physical permanent magnet synchronous motors are used as an example to establish a multi-agent system including a virtual leader and three followers. Each follower corresponds to a physical permanent magnet synchronous motor. The virtual leader needs to have an effective path to each follower. Communication needs to be established between the permanent magnet synchronous motors corresponding to each follower. The establishment of communication means that if two adjacent permanent magnet synchronous motors can send and receive information to each other, then it is considered that communication can be established between the two permanent magnet synchronous motors.

[0092] The mathematical model of the virtual permanent magnet synchronous motor is as follows:

[0093]

[0094] Where x0 is the speed of the virtual permanent magnet synchronous motor; Let x0 be the derivative of x0; u0 be the control input of the virtual permanent magnet synchronous motor; b0 be the control coefficient of the virtual permanent magnet synchronous motor, and b0 = 3nω. * / 2J0, where n is the number of pole pairs of the permanent magnet synchronous motor; ω * J0 represents the actual rotational speed of the virtual permanent magnet synchronous motor; J0 represents the moment of inertia of the virtual permanent magnet synchronous motor.

[0095] Step 2: Based on the communication between physical permanent magnet synchronous motors, establish a topology graph with a virtual leader to represent the information transmission process between multiple intelligent agents;

[0096] In this implementation, each follower is considered a node in the topology graph, and the virtual leader is also considered a node in the topology graph. Edges between nodes represent the communication state between agents, resulting in the following: Figure 2 The topology diagram shown is used to represent the information transmission process between multiple intelligent agents, which facilitates understanding the communication between multiple motors. 0 represents the virtual leader, and 1, 2, and 3 represent the three followers, namely the three physical permanent magnet synchronous motors.

[0097] Step 3: Input the desired speed ω0 of the permanent magnet synchronous motor into the virtual leader, and output the actual speed ω of the virtual leader. * ;

[0098] Step 4: Set the actual rotation speed ω of the virtual leader * The desired speed of the physical permanent magnet synchronous motor is used as the reference speed, and the two-phase output current i of each physical permanent magnet synchronous motor is collected in real time during the operation of the physical permanent magnet synchronous motor. i,a i i,b Actual rotational speed ω i and electrical angle θ i And the actual rotational speed ω of each physical permanent magnet synchronous motor was collected. i Transmitted to adjacent physical permanent magnet synchronous motors via network communication;

[0099] In this embodiment, the two-phase output current i i,a and i i,b The actual rotational speed ω is collected through a current sampling module. i Data is collected via an encoder; the actual rotational speed ω of each permanent magnet synchronous motor is recorded. i The input is given to the follower corresponding to the permanent magnet synchronous motor of the entity, and then the actual rotation speed collected is transmitted to the adjacent follower through the network communication established between the agents in the multi-agent system.

[0100] Step 5: Based on the actual rotational speed ω of the physical permanent magnet synchronous motor i and the actual speed ω of the adjacent permanent magnet synchronous motor j This yields the self-adjusting exponentiation term α1;

[0101] The calculation method for the self-adjusting power term α1 in this embodiment is as follows:

[0102]

[0103]

[0104] Where α1 is the self-adjusting power term; m is the adjustment factor and m > 2; ω i Let ω be the actual rotational speed of the i-th solid permanent magnet synchronous motor. j ξ represents the actual rotational speed of adjacent physical permanent magnet synchronous motors, where i = 1, 2, 3, ..., N, j = 1, 2, 3, ..., N and j ≠ i, and N is the number of physical permanent magnet synchronous motors; sign(·) represents the sign function; ξ i b is the speed error of the i-th solid permanent magnet synchronous motor; i Let b be the control coefficient of the i-th physical permanent magnet synchronous motor. i =3nω i / 2J i J i ω represents the moment of inertia of a solid permanent magnet synchronous motor. * The desired speed of a physical permanent magnet synchronous motor; a ij Let a be the communication weight between the follower corresponding to the i-th physical permanent magnet synchronous motor and the follower corresponding to the j-th physical permanent magnet synchronous motor. When communication between the two is possible, a ij =1, otherwise, a ij =0.

[0105] The self-adjusting power term is based on the speed error ξ between permanent magnet synchronous motors. i The value is automatically adjusted when the speed error |ξ between permanent magnet synchronous motors is... i |>5 o'clock, When the speed error ξ between permanent magnet synchronous motors i | <5 o'clock,

[0106] Step 6: Based on the collected two-phase output current i of the physical permanent magnet synchronous motor i,a i i,b The output current i of the other phase of the permanent magnet synchronous motor was calculated. i,c The Clark transform of the three-phase output current of the physical permanent magnet synchronous motor is used to obtain the α-axis current component i of the permanent magnet synchronous motor in the α-β coordinate system. i,α and β-axis current component i i,β ;

[0107] In this embodiment, the Clark transformation formula is as follows:

[0108]

[0109] Among them, i i,a i i,b i i,c i represents the three-phase output current of a solid permanent magnet synchronous motor; i,αLet i be the α-axis current component of the i-th solid permanent magnet synchronous motor; i,β Let represent the β-axis current component of the i-th physical permanent magnet synchronous motor.

[0110] Step 7: Based on the collected electrical angle θ i With respect to the α-axis current component i i,α and β-axis current component i i,β Performing the Park transformation yields the actual d-axis current component i of the physical permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system dq-axis. i,d And the actual q-axis current component i i,q ;

[0111] In this embodiment, the Park transformation formula is as follows:

[0112]

[0113] Where, θ i Let i be the electrical angle of the i-th solid permanent magnet synchronous motor; i,d Let i be the actual d-axis current component of the i-th physical permanent magnet synchronous motor; i,q Let q be the q-axis current component fed back by the i-th physical permanent magnet synchronous motor.

[0114] Step 8: Establish the Superspiral Expansion State Observer (STESO) to measure the actual rotational speed ω of the physical permanent magnet synchronous motor. i The q-axis current component i fed back from the solid permanent magnet synchronous motor i,q Input the superspiral expansion state observer and use it to obtain an estimate of the combined disturbance of the physical permanent magnet synchronous motor.

[0115] In this embodiment, based on the mechanical motion equations of the physical permanent magnet synchronous motor, the permanent magnet synchronous motor is regarded as a first-order nonlinear system, and a hyperlocal velocity loop model is established as follows:

[0116]

[0117] Among them, b i For a solid permanent magnet synchronous motor, u is the control coefficient. i For the control input of a physical permanent magnet synchronous motor; f i This refers to the overall disturbance of a permanent magnet synchronous motor.

[0118] The superspiral expansion state observer is established according to equation (6):

[0119]

[0120] Among them, e i,1 Represents the error in rotational speed observation; z i,1The actual rotational speed ω of the physical permanent magnet synchronous motor i The estimated value; z i,2 The combined disturbance f of a physical permanent magnet synchronous motor i The estimated value, i.e. z i,1 ,z i,2 The derivative of β; i,1 ,β i,2 It is the observer gain; Where sign(x) is the sign function.

[0121] Step 9: Based on the established multi-agent system, design a finite-time multi-agent consensus protocol, and based on the actual rotational speed ω of the physical permanent magnet synchronous motor. i The actual speed ω of the adjacent solid permanent magnet synchronous motor j And the desired q-axis current i of the permanent magnet synchronous motor is obtained from the self-adjusting power term α1. i,q * ;

[0122] In this embodiment, a finite-time multi-agent consensus protocol is designed based on a multi-agent system. This protocol replaces the speed loop controller in the traditional vector control of permanent magnet synchronous motors. The input of this protocol is the actual speed ω of the physical permanent magnet synchronous motor. i The actual speed ω of adjacent solid permanent magnet synchronous motors j The combined disturbance estimate of the physical permanent magnet synchronous motor estimated by the observer. The output is the desired q-axis current i of the physical permanent magnet synchronous motor. i,q * ;

[0123] The expression for the finite-time multi-agent consensus protocol in this embodiment is as follows:

[0124]

[0125] Among them, u i This is the control input for the physical permanent magnet synchronous motor, specifically the desired q-axis current i of the i-th physical permanent magnet synchronous motor. i,q * ; α, γ, κ, α2 are all design parameters of the consensus protocol, and satisfy α > 0, γ > 0, κ > 0, α2 > 1; b i Let b be the control coefficient of the i-th physical permanent magnet synchronous motor. i =3nω i / 2J i ;z iz represents the communication weight between the virtual leader and the follower corresponding to the i-th physical permanent magnet synchronous motor. When the virtual leader can communicate with that follower, z... i =1; otherwise, z i =0;

[0126] Step 10: Establish an improved deadbeat-free current loop controller;

[0127] In this embodiment, i is used i,d * =0 control strategy, the input of the deadbeat current loop controller is the desired d-axis current component i of the physical permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system dq. i,d * and the desired q-axis current component i i,q * The d-axis current component i fed back in the two-phase synchronous rotating coordinate system dq i,d and the feedback q-axis current component i i,q The actual rotational speed ω of the physical permanent magnet synchronous motor is fed back. i The output of this deadbeat current loop controller is the d-axis voltage component u in a two-phase synchronous rotating coordinate system dq. i,d and q-axis voltage component u i,q .

[0128] Step 10.1 Establish the mathematical model of the dq axis current of the i-th solid permanent magnet synchronous motor, and use the first-order forward Euler discretization method to obtain the current prediction equation of the solid permanent magnet synchronous motor.

[0129] In this embodiment, the mathematical model of the dq-axis current of the i-th physical permanent magnet synchronous motor is first established:

[0130]

[0131] Among them, R i L is the stator resistance of the i-th solid permanent magnet synchronous motor; i Let be the stator inductance of the i-th solid permanent magnet synchronous motor; Let n be the permanent magnet flux linkage of the i-th physical permanent magnet synchronous motor; n is the number of permanent magnet synchronous pole pairs.

[0132] The current prediction equation for a solid permanent magnet synchronous motor is obtained using the first-order forward Euler discretization method, as shown below:

[0133]

[0134] E i,d (k)=L i nω i (k)i i,q (k) (11)

[0135]

[0136] In the formula ω represents the predicted current value of the physical permanent magnet synchronous motor at time k+1 on the d-axis and time k+1 on the q-axis, respectively; i (k) represents the actual rotational speed of the permanent magnet synchronous motor at time k; u i,d (k), u i,q (k) represent the output voltage of the d-axis and the output voltage of the q-axis at time k, respectively, and T is the sampling time of the deadbeat current controller;

[0137] Step 10.2 Use the current prediction equation of the physical permanent magnet synchronous motor to derive the voltage prediction equation of the physical permanent magnet synchronous motor; from (10), the voltage prediction equation can be further derived as follows:

[0138]

[0139] Among them, u i,d (k+1) represents the predicted voltage value of the d-axis of the physical permanent magnet synchronous motor at time k+1; u i,q (k+1) represents the predicted voltage value of the q-axis of the physical permanent magnet synchronous motor at time k+1; i i,d * (k) represents the desired d-axis current of the physical permanent magnet synchronous motor at time k; i i,q * (k) represents the desired q-axis current of the physical permanent magnet synchronous motor at time k. i,d (k) represents the d-axis current at time k, assuming that the actual d-axis current of the permanent magnet synchronous motor has already tracked i at time k. i,d * (k), i is used here i,d * (k) replaces i i,d (k); i i,q (k) represents the q-axis current at time k, assuming that the actual q-axis current of the permanent magnet synchronous motor has already tracked i at time k. i,q * (k), i is used here i,q * (k) replaces i i,q (k); the text adopts i i,d * =0 control method, i i,q * (k) can be obtained from the consensus protocol of equation (8).

[0140] Step 10.3 Improve the current prediction equation of the solid permanent magnet synchronous motor to obtain the improved current prediction equation;

[0141] The mathematical model (9) of the dq axis current of the permanent magnet synchronous motor is improved according to the following formula (14) to obtain the improved current prediction equation.

[0142]

[0143] f(u i,d (k),i i,d (k))=u i,d (k)-R i i i,d (k)+E i,d (k) / L i (15)

[0144] f(u i,q (k),i i,q (k))=u i,q (k)-R i i i,q (k)+E i,q (k) / L i (16)

[0145] Substituting equation (10) into equation (14) yields the improved current prediction model:

[0146] i i (k+1)=A i i i (k)-B i i i (k+1)+C i E i (k)+D i (u i,d (k)+u i,d (k+1)) (17)

[0147] in, Let i be the coefficient of each term in equation (17). i (k+1)=[i i,d (k+1),i i,q (k+1)] T , where i i,d (k+1) represents the predicted current value of the d-axis of the improved solid permanent magnet synchronous motor at time k+1; i i,q (k+1) represents the predicted current value of the q-axis of the improved solid permanent magnet synchronous motor at time k+1; i i (k)=[i i,d (k),i i,q (k)] T , where i i,d (k) represents the d-axis current at time k; i i,q (k) represents the current at time k along the q-axis; u i (k)=[u i,d (k),u i,q (k)] T u i (k+1)=[u i,d (k+1),u i,q (k+1)] T E i (k)=[E i,d (k),E i,q (k)] T .

[0148] Step 10.4 Substitute the improved current prediction equation into the voltage prediction equation of the solid permanent magnet synchronous motor to obtain the improved deadbeat current loop controller.

[0149] Substituting equation (17) into equation (13), the improved current prediction value i i,d (k+1),i i,q (k+1) replaces The improved deadbeat current loop controller can be obtained as follows:

[0150]

[0151] The desired currents i along the d and q axes at time k i,d * (k),i i,q * (k), the actual d-axis and q-axis current i at time k of the feedback. i,d (k),i i,q (k) and the actual speed ω of the permanent magnet synchronous motor at time k i (k), and the predicted voltage value u at time k i,d (k),u i,q (k), the predicted current value of the permanent magnet synchronous motor at time k+1 is obtained by formula (10). Then, the improved predicted current value i at time k+1 on the d and q axes is calculated using formula (14). i,d (k+1),i i,q (k+1), i i,d (k+1),i i,q Substituting (k+1) into equation (13), the improved current prediction value i i,d (k+1),i i,q (k+1) replaces The improved voltage prediction value u can be obtained. i,d (k+1),u i,q (k+1).

[0152] Step 11: Establish a passive controller for a permanent magnet synchronous motor based on a port-controlled Hamiltonian PCH system;

[0153] The input to the controller is the desired d-axis current component i of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system dq. i,d * and the desired q-axis current component i i,q * The actual current component i along the d-axis in the two-phase synchronous rotating coordinate system dq i,d The actual current component i along the q-axis i,q The actual motor speed ω collected i The controller output is the d-axis voltage component u in the two-phase synchronous rotating coordinate system dq. i,d and q-axis voltage component u i,q .

[0154] Step 11.1 Establish a port-controlled Hamiltonian PCH system and obtain the Hamiltonian function of the port-controlled Hamiltonian system;

[0155] Define the state vector of the current loop of the i-th permanent magnet synchronous motor as:

[0156] X i =[x i,1 ,x i,2 ] T =[L i i i,d ,L i i i,q ] T (19)

[0157] y i =[i i,d i i,q ] T (20)

[0158] Where X i y is the input state vector; i This is the output state vector; x i,1 Represents the d-axis state vector; x i,2 Represents the q-axis state vector, where x i,1 =L i i i,d ,x i,2 =L i i i,q .

[0159] Rewriting equation (9) as a port-controlled Hamiltonian system, we get

[0160]

[0161] in, The input state vector X i The derivative of H; i (x) is the Hamiltonian function of the port-controlled Hamiltonian system; u i,dq Let u be the dq-axis voltage, where u is the voltage across the dq axis. i,dq =[u i,d ,u i,q ] T J i (x) is the antisymmetric matrix representing the internal interconnection structure of the port-controlled Hamiltonian system, R i (x) is a positive semi-definite matrix representing the damping structure, g i (x) Reacts to the port characteristics of the system, where

[0162] Furthermore, the Hamiltonian function of the port-controlled Hamiltonian system is:

[0163]

[0164] x i,j This represents the state vector along the dq axis, where j = 1, 2.

[0165] Step 11.2 Construct the desired Hamiltonian function based on the Hamiltonian function obtained in Step 11.1;

[0166] To stabilize the system at the desired equilibrium point x i * Nearby, where x i * =[i i,d * i i,q * ] T Set a reasonable u i,dq Make the desired Hamiltonian function H constructed i,d (x) at the desired equilibrium point x i * The minimum value within the neighborhood is H. i,d (x)>H i,d (x i * Equation (21) can be written as follows:

[0167]

[0168] And satisfy

[0169]

[0170] J i,d (x) is the antisymmetric matrix of the desired internal interconnection structure of the port-controlled Hamiltonian system, R i,d(x) is the positive semi-definite matrix of the desired damping structure. For H i,d Take the partial derivative of (x) with respect to x. For H i Take the partial derivative of (x) with respect to x.

[0171] And there are

[0172]

[0173] J i,a (x) represents the gain of the internal interconnect structure of the port-controlled Hamiltonian system, R i,a (x) represents the gain of the damping structure, and a = 1, 2.

[0174] Construct the desired Hamiltonian function as follows:

[0175]

[0176] in, Let be the coefficients of the desired Hamiltonian function, and satisfy . p i ,q i For c i The adjustment parameters, and p i <q i <2p i ,q i >p i >1, c i Let be the power term of the desired Hamiltonian function.

[0177] Step 11.3 Based on the desired Hamiltonian function, construct a passive controller for the permanent magnet synchronous motor based on the port-controlled Hamiltonian PCH system;

[0178] From equation (24), the passive controller for a permanent magnet synchronous motor based on a port-controlled Hamiltonian (PCH) system is:

[0179]

[0180] This article uses i i,d * =0 control strategy, i i,q * Output from the preceding control protocol.

[0181] Based on the feedback of the dq-axis current i i,d i i,q H is calculated using equation (22). i (x), and then i is calculated by a finite-time multi-agent consensus protocol. i,q * , and i i,d* H is calculated using equation (26). i,d (x), then obtain H i (x),H i,d (x) Taking the partial derivative, we get Finally, u is obtained from equation (24). i,dq , where u i,dq =[u i,d ,u i,q ] T .

[0182] Step 12: Design a coordination controller with speed tracking error as the criterion to switch between the improved deadbeat current loop controller and the passive controller of the permanent magnet synchronous motor based on the port-controlled Hamiltonian PCH system model, and obtain the d-axis voltage component u in the two-phase synchronous rotating coordinate system dq. i,d and q-axis voltage component u i,q ;

[0183] Design a coordination controller with speed tracking error as the criterion to switch between the two current loop controllers designed earlier. This combines the advantages of both current loop controllers, ensuring fast current tracking performance while minimizing energy loss during steady-state operation. The input to the coordination controller is the d-axis voltage component u in the dq coordinate system, output from the deadbeat current controller and the passive controller. i,d and q-axis voltage component u i,q The output of the coordinating controller is the desired d-axis voltage component u after coordination. i,d * and q-axis voltage component u i,q * .

[0184] Step 12.1: Calculate the speed tracking error based on the average speed error of multiple permanent magnet synchronous motors;

[0185] In this embodiment, the speed tracking error is:

[0186]

[0187] in Let be the average speed of n permanent magnet synchronous motors, and x i This represents the speed of the i-th permanent magnet synchronous motor that can communicate, where i = 0, 1, ..., n.

[0188] Step 12.2: Create the switching function;

[0189] The switching function is designed as follows:

[0190]

[0191] wherein a is the function change rate, t c is the switching period, T c is the switching trigger moment.

[0192] Step 12.3: establishing a coordination controller with the speed tracking error as the judgment condition based on the switching function, to obtain the d-axis voltage component u under the two-phase synchronous rotating coordinate system d-q i,d and the q-axis voltage component u i,q ;

[0193] defining a judgment threshold δ, and when |e x |>δ or |e x |≤δ, acquiring the current moment T c . Then there is

[0194] the coordination controller with the speed tracking error as the judgment condition is:

[0195] When |e x |>δ

[0196]

[0197] When |e x |≤δ

[0198]

[0199] wherein u s , u e respectively represent the output of the deadbeat current controller and the output of the passive controller.

[0200] The rotational speed ω fed back by the permanent magnet synchronous motor i and the rotational speed ω of the adjacent permanent magnet synchronous motor j pass through calculating to obtain the average rotational speed of the permanent magnet synchronous motor then by calculating to obtain the average rotational speed error e of the permanent magnet synchronous motor x , then according to the set judgment threshold δ, the output value u of the coordination controller is determined by formula (29) and formula (30) i,dq , where u i,dq =[u i,d , u i,q T .

[0201] When the average rotational speed error of the permanent magnet synchronous motor |e x |>δ, the switching trigger moment T at the current moment is acquired c , when 0<t<T c , the output u of the coordination controller i,dq =u​e In T c The switching occurs at any given moment, when T c ≤t≤T c +t c At that time, the output of the coordinating controller is u i,dq =S(t)·u s +(1-S(t))·u e After t c The time transition is complete, at which point t > T. c +t c At this time, the output of the coordinating controller is u. i,dq =u s .

[0202] When the average speed error of the permanent magnet synchronous motor is |e x When |≤δ, obtain the current switching trigger time T. c When 0 < t < T c At that time, the output u of the coordination controller i,dq =u s In T c The switching occurs at any given moment, when T c ≤t≤T c +t c At that time, the output of the coordinating controller is u i,dq =S(t)·u e +(1-S(t))·u s After t c The time transition is complete, at which point t > T. c +t c At this time, the output of the coordinating controller is u. i,dq =u e .

[0203] Step 13: Convert the d-axis voltage component u of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system dq. i,d and q-axis voltage component u i,q Park -1 Transformation yields the voltage components u of the permanent magnet synchronous motor along the α-β axes. i,α and u i,β .

[0204] In this embodiment, the Park transformation formula is as follows:

[0205]

[0206] Step 14: Based on the voltage components u of the permanent magnet synchronous motor along the α-β axis i,α and u i,β The driving pulse signal is obtained using pulse width modulation technology.

[0207] In this embodiment, six drive pulse signals PWM1-PWM6 are obtained.

[0208] Step 15: Determine the inverter switching state based on the drive pulse signal, and change the DC bus voltage U of the permanent magnet synchronous motor. dc The voltage is inverted to the three-phase AC voltage of the permanent magnet synchronous motor, which is used as the input voltage of the three-phase stator winding of the permanent magnet synchronous motor to realize the control of the speed of the permanent magnet synchronous motor.

[0209] In a specific embodiment of the present invention Figure 3 This is the speed response curve of a permanent magnet synchronous motor. Figure 4 This is the speed response curve of a permanent magnet synchronous motor during forward and reverse rotation. Given a desired speed of 200 rpm for the motor, and reversing the motor in 1.5 seconds, the speed response curve is... Figure 3 and Figure 4 As can be seen, the three motors can quickly track the leader's state, the speed of the three motors remains consistent, and there is good steady-state error when the motors are running smoothly.

[0210] like Figure 5 As shown, when the desired speed of the given leader is 500 rpm, the motor speed increases to 550 rpm in 1.5 seconds and decreases to 500 rpm in 2 seconds. It can be seen that the motor speed transition process is smooth and consistent, and has a small steady-state error.

[0211] like Figure 6 As shown, when the desired speed of the given leader is 500 rpm, the load torque of the first motor increases to 1.5 N·m at 1.5 seconds, the load torque of the second motor increases to 1 N·m, the load torque of the third motor increases to 0.5 N·m, and the load is removed at 1.95 seconds. Figure 6 The speed response curves of the permanent magnet synchronous motor when the load is increased or decreased show that overshoot occurs when the motor is loaded or decreased, but it quickly tracks the desired speed with the compensation of the observer. Furthermore, the speed changes of the three motors can still tend to be consistent when different loads are added, which verifies the feasibility and effectiveness of using a consistency protocol to replace the traditional speed loop in this invention.

[0212] Figure 7 The graph shows the q-axis feedback current response curves of a permanent magnet synchronous motor when the load torque of the first motor increases to 1.5 N·m at 1.5 seconds, the load torque of the second motor increases to 1 N·m, and the load torque of the third motor increases to 0.5 N·m, and the load is removed at 1.95 seconds. Figure 7 It can be seen that when the three motors are subjected to different loads, the amplitude of the q-axis current is different but the trend of change is consistent, and they coincide after the load is removed. Figure 8 and Figure 9 The d-axis feedback current and stator three-phase current of the permanent magnet synchronous motor when the load is added or removed. Figure 10 The figure shows the speed tracking error of the three motors during startup and load adjustment of the permanent magnet synchronous motor. As can be seen from the figure, the tracking error can be quickly and smoothly converged to 0.

[0213] Figure 11 The curve represents the switching function in the coordinating controller. As can be seen from the graph, the output of the coordinating controller can achieve smooth and fast switching.

Claims

1. A cooperative control method for multiple permanent magnet synchronous motors based on multi-agent consensus, characterized in that, Includes the following steps: Step 1: Establish a multi-agent system including a virtual leader and several followers, and establish a mathematical model of a virtual permanent magnet synchronous motor as the virtual leader in the multi-agent system; each follower corresponds to a physical permanent magnet synchronous motor. Step 2: Based on the communication between physical permanent magnet synchronous motors, establish a topology graph with a virtual leader to represent the information transmission process between multiple intelligent agents; Step 3: Input the desired speed ω0 of the permanent magnet synchronous motor into the virtual leader, and output the actual speed ω of the virtual leader. * ; Step 4: Set the actual rotation speed ω of the virtual leader * The desired speed of the physical permanent magnet synchronous motor is used as the reference speed, and the two-phase output current i of each physical permanent magnet synchronous motor is collected in real time during the operation of the physical permanent magnet synchronous motor. i,a i i,b Actual rotational speed ω i and electrical angle θ i And the actual rotational speed ω of each physical permanent magnet synchronous motor was collected. i Transmitted to adjacent physical permanent magnet synchronous motors via network communication; Step 5: Based on the actual rotational speed ω of the physical permanent magnet synchronous motor i and the actual speed ω of the adjacent permanent magnet synchronous motor j This yields the self-adjusting exponentiation term α1; Step 6: Based on the collected two-phase output current i of the physical permanent magnet synchronous motor i,a i i,b The output current i of the other phase of the permanent magnet synchronous motor was calculated. i,c The Clark transform of the three-phase output current of the physical permanent magnet synchronous motor is used to obtain the α-axis current component i of the permanent magnet synchronous motor in the α-β coordinate system. i,α and β-axis current component i i,β ; Step 7: Based on the collected electrical angle θ i With respect to the α-axis current component i i,α and β-axis current component i i,β Performing the Park transformation yields the actual d-axis current component i of the physical permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system dq-axis. i,d And the actual q-axis current component i i,q ; Step 8: Establish the Superspiral Expansion State Observer (STESO) to measure the actual rotational speed ω of the physical permanent magnet synchronous motor. i The q-axis current component i fed back from the physical permanent magnet synchronous motor i,q Input the superspiral expansion state observer and use it to obtain an estimate of the combined disturbance of the physical permanent magnet synchronous motor. Step 9: Based on the established multi-agent system, design a finite-time multi-agent consensus protocol, and based on the actual rotational speed ω of the physical permanent magnet synchronous motor. i The actual speed ω of the adjacent solid permanent magnet synchronous motor j And the desired q-axis current i of the permanent magnet synchronous motor is obtained from the self-adjusting power term α1. i,q * ; Step 10: Establish an improved deadbeat-free current loop controller; Step 11: Establish a passive controller for a permanent magnet synchronous motor based on a port-controlled Hamiltonian PCH system; Step 12: Design a coordination controller with speed tracking error as the criterion to switch between the improved deadbeat current loop controller and the passive controller of the permanent magnet synchronous motor based on the port-controlled Hamiltonian PCH system model, and obtain the d-axis voltage component u in the two-phase synchronous rotating coordinate system dq. i,d and q-axis voltage component u i,q ; Step 13: Convert the d-axis voltage component u of the permanent magnet synchronous motor in the two-phase synchronous rotating coordinate system dq. i,d and q-axis voltage component u i,q Park -1 Transformation yields the voltage components u of the permanent magnet synchronous motor along the α-β axes. i,α and u i,β ; Step 14: Based on the voltage components u of the permanent magnet synchronous motor along the α-β axis i,α and u i,β The driving pulse signal is obtained using pulse width modulation technology; Step 15: Determine the inverter switching state based on the drive pulse signal, and change the DC bus voltage U of the permanent magnet synchronous motor. dc The voltage is inverted to the three-phase AC voltage of the permanent magnet synchronous motor, which is then used as the input voltage for the three-phase stator windings of the permanent magnet synchronous motor to control the speed of the motor.

2. The method for cooperative control of multiple permanent magnet synchronous motors based on multi-agent consensus as described in claim 1, characterized in that, The calculation method for the self-adjusting power term α1 in step 5 is as follows: Where α1 is the self-adjusting power term; m is the adjustment factor and m > 2; ω i Let ω be the actual rotational speed of the i-th solid permanent magnet synchronous motor. j ξ represents the actual rotational speed of adjacent physical permanent magnet synchronous motors, where i = 1, 2, 3, ..., N, j = 1, 2, 3, ..., N and j ≠ i, and N is the number of physical permanent magnet synchronous motors; sign(·) represents the sign function; ξ i b is the speed error of the i-th solid permanent magnet synchronous motor; i Let b be the control coefficient of the i-th physical permanent magnet synchronous motor. i =3nω i / 2J i Where n is the number of pole pairs of the permanent magnet synchronous motor; J i ω represents the moment of inertia of a solid permanent magnet synchronous motor. * The desired speed of a physical permanent magnet synchronous motor; a ij Let a be the communication weight between the follower corresponding to the i-th physical permanent magnet synchronous motor and the follower corresponding to the j-th physical permanent magnet synchronous motor. When communication between the two is possible, a ij =1, otherwise, a ij =0.

3. The method for cooperative control of multiple permanent magnet synchronous motors based on multi-agent consensus as described in claim 1, characterized in that, The expression for the finite-time multi-agent consensus protocol in step 9 is as follows: Among them, u i This is the control input for the physical permanent magnet synchronous motor, specifically the desired q-axis current i of the i-th physical permanent magnet synchronous motor. i,q * ; α, γ, κ, α2 are all design parameters of the consensus protocol, and satisfy α > 0, γ > 0, κ > 0, α2 > 1; b i Let b be the control coefficient of the i-th physical permanent magnet synchronous motor. i =3nω i / 2J i ;z i z represents the communication weight between the virtual leader and the follower corresponding to the i-th physical permanent magnet synchronous motor. When the virtual leader can communicate with the follower, z... i =1; otherwise, z i =0; ω0 is the set desired speed of the permanent magnet synchronous motor; This is an estimate of the overall disturbance of a physical permanent magnet synchronous motor.

4. The method for cooperative control of multiple permanent magnet synchronous motors based on multi-agent consensus as described in claim 1, characterized in that, Step 10 specifically includes: Step 10.1: Establish the mathematical model of the dq axis current of the i-th solid permanent magnet synchronous motor, and use the first-order forward Euler discretization method to obtain the current prediction equation of the solid permanent magnet synchronous motor; The current prediction equation for the physical permanent magnet synchronous motor is as follows: E i,d (k)=L i nω i (k)i i,q (k) (11) In the formula ω represents the predicted current value of the physical permanent magnet synchronous motor at time k+1 on the d-axis and time k+1 on the q-axis, respectively; i (k) represents the actual rotational speed of the permanent magnet synchronous motor at time k; u i,d (k), u i,q (k) represents the output voltage of the d-axis and the output voltage of the q-axis at time k, respectively, and T is the sampling time of the deadbeat current controller; R i L is the stator resistance of the i-th solid permanent magnet synchronous motor; i Let be the stator inductance of the i-th solid permanent magnet synchronous motor; Let n be the permanent magnet flux linkage of the i-th physical permanent magnet synchronous motor; n is the number of permanent magnet synchronous pole pairs; i i,d (k) represents the d-axis current at time k; i i,q (k) represents the current at time k along the q-axis; Step 10.2: Use the current prediction equation of the physical permanent magnet synchronous motor to derive the voltage prediction equation of the physical permanent magnet synchronous motor; The voltage prediction equation for the physical permanent magnet synchronous motor is as follows: Among them, u i,d (k+1) represents the predicted voltage value of the d-axis of the physical permanent magnet synchronous motor at time k+1; u i,q (k+1) represents the predicted voltage value of the q-axis of the physical permanent magnet synchronous motor at time k+1; i i,d * (k) represents the desired d-axis current of the physical permanent magnet synchronous motor at time k; i i,q * (k) represents the desired q-axis current of the physical permanent magnet synchronous motor at time k; Step 10.3: Improve the current prediction equation of the physical permanent magnet synchronous motor to obtain the improved current prediction equation; Step 10.4: Substitute the improved current prediction equation into the voltage prediction equation of the physical permanent magnet synchronous motor to obtain the improved deadbeat-free current loop controller.

5. The method for cooperative control of multiple permanent magnet synchronous motors based on multi-agent consensus as described in claim 4, characterized in that, The improved current prediction equation in step 10.3 is as follows: in, Let i be the coefficient of each term in equation (17). i (k+1)=[i i,d (k+1),i i,q (k+1)] T , where i i,d (k+1) represents the predicted current value of the d-axis of the improved solid permanent magnet synchronous motor at time k+1; i i,q (k+1) represents the predicted current value of the q-axis of the improved solid permanent magnet synchronous motor at time k+1; i i (k)=[i i,d (k),i i,q (k)] T , where i i,d (k) represents the d-axis current at time k; i i,q (k) represents the current at time k along the q-axis; in E represents the predicted current values ​​at time k+1 on the d-axis and q-axis of the physical permanent magnet synchronous motor, respectively; i (k)=[E i,d (k),E i,q (k)] T E i,d (k)=L i nω i (k)i i,q (k), n is the number of pole pairs of the permanent magnet synchronous motor. Let ω be the permanent magnet flux linkage of the i-th solid permanent magnet synchronous motor. i (k) represents the actual rotational speed of the permanent magnet synchronous motor at time k; u i,d (k) represents the output voltage along the d-axis at time k, u i,d (k+1) is the predicted voltage value of the d-axis of the physical permanent magnet synchronous motor at time k+1; R i L is the stator resistance of the i-th solid permanent magnet synchronous motor; i Let be the stator inductance of the i-th physical permanent magnet synchronous motor; T is the sampling time of the deadbeat current controller.

6. The method for cooperative control of multiple permanent magnet synchronous motors based on multi-agent consensus as described in claim 4, characterized in that, The improved deadbeat current loop controller in step 10.4 is as follows: Among them, u i,q (k+1) represents the predicted voltage value of the q-axis of the physical permanent magnet synchronous motor at time k+1; u i,d (k+1) represents the predicted voltage value of the d-axis of the physical permanent magnet synchronous motor at time k+1; i i,d * (k) represents the desired d-axis current of the physical permanent magnet synchronous motor at time k; i i,q * (k) represents the desired q-axis current of the physical permanent magnet synchronous motor at time k.

7. The method for cooperative control of multiple permanent magnet synchronous motors based on multi-agent consensus as described in claim 1, characterized in that, Step 11 specifically includes: Step 11.1: Establish a port-controlled Hamiltonian PCH system and obtain the Hamiltonian function of the port-controlled Hamiltonian system; The port-controlled Hamiltonian system is: Among them, X i The input state vector; The input state vector X i The derivative of H; i (x) is the Hamiltonian function of the port-controlled Hamiltonian system; u i,dq Let u be the dq-axis voltage, where u is the voltage across the dq axis. i,dq =[u i,d ,u i,q ] T J i (x) is the antisymmetric matrix representing the internal interconnection structure of the port-controlled Hamiltonian system, R i (x) is a positive semi-definite matrix representing the damping structure, g i (x) React system port characteristics; y i This is the output state vector; The Hamiltonian function of the port-controlled Hamiltonian system is: Where, x i,j Represents the state vector along the dq axis; Step 11.2: Construct the desired Hamiltonian function based on the Hamiltonian function obtained in Step 11.1; The desired Hamiltonian function is: in, Let be the coefficients of the desired Hamiltonian function, and satisfy . p i ,q i For c i The adjustment parameters, and p i <q i <2p i ,q i >p i >1, c i x is the power term of the desired Hamiltonian function; i * For the system's desired equilibrium point, the specific x i * =[i i,d * i i,q * ] T ; Step 11.3: Based on the desired Hamiltonian function, construct a passive controller for the permanent magnet synchronous motor based on the port-controlled Hamiltonian PCH system; The passive controller for the permanent magnet synchronous motor based on the port-controlled Hamiltonian PCH system is: Where R i,1 and R i,2 J represents the gain of the damping structure; i,1 This represents the gain of the internal interconnect structure of a port-controlled Hamiltonian system.

8. The method for cooperative control of multiple permanent magnet synchronous motors based on multi-agent consensus as described in claim 1, characterized in that, Step 12 specifically includes: Step 12.1: Calculate the speed tracking error based on the average speed error of multiple permanent magnet synchronous motors; Step 12.2: Create the switching function; Step 12.3: Based on the switching function, establish a coordinated controller with speed tracking error as the criterion, and obtain the d-axis voltage component u in the two-phase synchronous rotating coordinate system dq. i,d and q-axis voltage component u i,q ; The coordination controller that uses speed tracking error as the criterion is: when |e x |>δ when|e x When |≤δ Among them, u s ,u e These represent the output of the deadbeat current controller and the output of the passive controller, respectively.

9. A method for cooperative control of multiple permanent magnet synchronous motors based on multi-agent consensus as described in claim 8, characterized in that, The switching function in step 12.2 is: Where a is the rate of change of the function, t c For the switching period, T c This is to switch the trigger time.

10. The method for cooperative control of multiple permanent magnet synchronous motors based on multi-agent consensus as described in claim 1, characterized in that, The superspiral expansion state observer in step 8 is: Among them, e i,1 Represents the error in rotational speed observation; z i,1 The actual rotational speed ω of the physical permanent magnet synchronous motor i The estimated value; z i,2 The combined disturbance f of a physical permanent magnet synchronous motor i The estimated value, i.e. z i,1 ,z i,2 The derivative of β; i,1 ,β i,2 It is the observer gain; Where sign(x) is the sign function.

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