Construction method of multi-permanent magnet synchronous motor speed synchronous controller based on distributed observer

Abstract

The invention discloses a method for constructing a multi-permanent magnet synchronous motor speed synchronous controller based on a distributed observer. The method comprises the following steps: 1, establishing a multi-permanent magnet synchronous motor system consisting of N permanent magnet synchronous motors; 2, dividing the motors into two groups according to whether leader information can be directly obtained or not, and constructing a closed-loop system of multiple permanent magnet synchronous motor speed loops based on a collaborative output regulation theory; 3, constructing a directed communication topology to describe information transmission between the motors, and designing observers for the two groups of motors respectively; 4, designing a speed controller aiming at the speed rings of the two groups of motors; and 5, designing a PI controller for the current loops of the two groups of motors, and providing a final speed synchronous controller. The speed synchronization controller based on the distributed observer is designed for the situation that communication network constraint exists in actual control, speed synchronization and interference suppression of a multi-permanent magnet synchronous motor system are achieved, and good tracking performance is achieved.

Description

Technical Field

[0001] The present invention relates to the field of coordinated control of multiple permanent magnet synchronous motors, and in particular to a method for constructing a speed synchronization controller of multiple permanent magnet synchronous motors based on a distributed observer. Background Art

[0002] In modern AC servo systems, permanent magnet synchronous motors are widely used in aerospace, robotics, electric vehicles and other fields because of their advantages such as good response characteristics, strong controllability and high power density. As people's research and application of permanent magnet synchronous motors in various fields continue to deepen, it is found that some systems with high power requirements or high driving capabilities require only one permanent magnet synchronous motor. It is inevitable that they cannot meet the actual application requirements. Therefore, people began to consider using multiple permanent magnet synchronous motors to jointly drive these systems.

[0003] In addition, in the actual control process, data packet loss and delay often occur during communication, and even communication is not allowed. Therefore, the traditional distributed control method of multi-motor system cannot solve the collaborative control problem of multi-motor system in these situations; therefore, in order to ensure that the multi-motor system can still achieve good synchronization performance under the condition of communication constraints, people began to study the distributed control method of multi-motor system. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the present invention provides a method for constructing a speed synchronization controller for multiple permanent magnet synchronous motors based on a distributed observer, in order to achieve speed synchronization and interference suppression of the multiple permanent magnet synchronous motor system so that it has good tracking performance, thereby solving the speed synchronization control problem and interference suppression problem of multiple permanent magnet synchronous motors under the constraints of the communication network.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme:

[0006] The invention provides a method for constructing a multi-permanent magnet synchronous motor speed synchronization controller based on a distributed observer, which comprises the following steps:

[0007] Step 1: Create a A multi-permanent magnet synchronous motor system composed of permanent magnet synchronous motors;

[0008] Step 2: Build an external system and act as a leader, and together with the multi-PMSM system form an intelligent agent with the number of agents being A multi-agent system, in which the multi-permanent magnet synchronous motor system The permanent magnet synchronous motor is a follower;

[0009] Depending on whether the leader information can be obtained directly, Permanent magnet synchronous motors are divided into The informed motor group consisting of motors and A closed-loop system of multi-PMSM speed loops based on cooperative output regulation theory is constructed by using an uninformed motor group composed of 3 motors. ;

[0010] Step 3: Construct a directed communication topology to describe the information transmission between each agent in the multi-agent system composed of the external system and the multi-permanent magnet synchronous motor system;

[0011] Defining the communication topology , where the communication topology diagram The vertex set express Multi-agent communication topology The edge set express The interaction relationship between multiple intelligent agents; Representing an Agent and Agent The adjacent relationship between hour, and , ;

[0012] Step 4: Design A Romberg observer is used to observe the first The closed-loop system state of each permanent magnet synchronous motor and the leader system state, ;

[0013] Design The Romberg observer and The distributed observers are used to observe the first The closed-loop system state of each permanent magnet synchronous motor and the leader system state, ;

[0014] Step 5: Design a speed loop controller based on the Romberg observer for the speed loop of the informed motor group;

[0015] For the speed loop of the uninformed motor group, a speed loop controller based on the Romberg observer and distributed observer is designed;

[0016] Step 6: Design a PI controller for the current loops of the informed motor group and the uninformed motor group, thereby forming a multi-permanent magnet synchronous motor speed synchronization controller with the two speed loop controllers.

[0017] The method for constructing a multi-permanent magnet synchronous motor speed synchronization controller based on a distributed observer according to the present invention is also characterized in that in step 1, a multi-permanent magnet synchronous motor system is established using formula (1):

[0018] (1)

[0019] In formula (1): , represents the number of permanent magnet synchronous motors, Respectively represent The rotor angular velocity of a permanent magnet synchronous motor , Shaft stator current and Shaft stator current , Respectively The derivative of Respectively represent Permanent magnet synchronous motor Axis and The stator voltage of the shaft, Indicates The moment of inertia of a permanent magnet synchronous motor, Indicates The armature inductance of a permanent magnet synchronous motor, Indicates The stator resistance of a permanent magnet synchronous motor, Indicates The number of pole pairs of a permanent magnet synchronous motor, Indicates The rotor flux of a permanent magnet synchronous motor, Indicates The load torque of a permanent magnet synchronous motor, Indicates The viscous friction coefficient of a permanent magnet synchronous motor.

[0020] Furthermore, the step 2 comprises:

[0021] Step 2.1: Use formula (2) to build an external system:

[0022] (2)

[0023] In formula (2), represents the state variables of the external system, express The derivative of The system matrix representing the external system, represents the reference speed, A constant matrix representing the reference velocity, Indicates The load torque of a permanent magnet synchronous motor, Indicates The load torque constant matrix of a permanent magnet synchronous motor;

[0024] Step 2.2: Define State variables of a permanent magnet synchronous motor , No. State matrix of a permanent magnet synchronous motor , No. Input matrix of a permanent magnet synchronous motor , No. The state disturbance matrix of a permanent magnet synchronous motor , No. Control input of permanent magnet synchronous motor , and then use formula (3) to establish the The speed loop equation of a permanent magnet synchronous motor:

[0025] (3)

[0026] In formula (3), Indicates State variables of a permanent magnet synchronous motor The derivative of

[0027] Step 2.3: Use formula (4) to establish The speed tracking error equation of a permanent magnet synchronous motor is:

[0028] (4)

[0029] In formula (4), Indicates Speed ​​tracking error of a permanent magnet synchronous motor;

[0030] Step 2.4: Formula (2), Formula (3) and Formula (4) together form the The closed-loop system of the permanent magnet synchronous motor speed loop is The closed-loop system of the speed loops of permanent magnet synchronous motors constitutes a closed-loop system of the speed loops of multiple permanent magnet synchronous motors based on the cooperative output regulation theory.

[0031] Further, the step 4 comprises:

[0032] Step 4.1: Use formula (5) to establish The measured output equation of a permanent magnet synchronous motor is:

[0033] (5)

[0034] In formula (5), Indicates The measured output of a permanent magnet synchronous motor, For the A constant variable, when the permanent magnet synchronous motor belongs to the informed motor group, let , when the permanent magnet synchronous motor belongs to the uninformed motor group, let ;

[0035] Step 4.2: Use formula (6) to establish Romberg observer for permanent magnet synchronous motor:

[0036] (6)

[0037] In formula (6), Respectively represent A Romberg observer The observed values ​​of the speed of the permanent magnet synchronous motor and the observed values ​​of the leader system state, Respectively The derivative of Respectively represent The state matrix, input matrix and state disturbance matrix of a permanent magnet synchronous motor, Respectively represent Control input and measurement output of permanent magnet synchronous motors, Respectively represent There are two gains of a Romberg observer, and they satisfy All eigenvalues ​​of have negative real parts;

[0038] Step 4.3: Use equations (7) and (8) to establish Romberg observer and distributed observer for permanent magnet synchronous motor:

[0039] (7)

[0040] (8)

[0041] In formula (7)-formula (8), Indicates A Romberg observer The observed value of the speed of a permanent magnet synchronous motor, express The derivative of Indicates The distributed observer The observed values ​​of the permanent magnet synchronous motor leader system state, express The derivative of Respectively represent The state matrix, input matrix and state disturbance matrix of a permanent magnet synchronous motor, Respectively represent Control input and measurement output of permanent magnet synchronous motors, Respectively represent The first permanent magnet synchronous motor and the Observed values ​​of the leader system state of a permanent magnet synchronous motor, Indicates The gain of a Romberg observer satisfies The value of is negative, Is a positive number.

[0042] Further, the step 5 comprises:

[0043] Step 5.1: Use formula (9) to construct The linear matrix equation corresponding to the closed-loop system of the speed loop of a permanent magnet synchronous motor is:

[0044] (9)

[0045] In formula (9), Respectively represent The steady-state state matrix and steady-state input matrix of a permanent magnet synchronous motor are:

[0046] (10)

[0047] In formula (10), Respectively represent The steady-state state and steady-state input of a permanent magnet synchronous motor;

[0048] Step 5.2: Use equations (11) and (12) to construct the controllers of the motor speed loops of the informed motor group and the uninformed motor group respectively:

[0049] (11)

[0050] (12)

[0051] In formula (11)-formula (12), Respectively represent Taiwan and the The control input of the speed loop of a permanent magnet synchronous motor, Indicates The two controller gains for the motors are The value of is negative, .

[0052] Furthermore, in step 6, formula (12) is used to construct the PI controller of the current loop of a permanent magnet synchronous motor:

[0053] (13)

[0054] In formula (13), Indicates Permanent magnet synchronous motor The reference current of the axis, Determined by the speed loop; for the first Permanent magnet synchronous motor, ; For the first motor group that is not aware of the Permanent magnet synchronous motor, ; Respectively represent Motor The proportional and integral coefficients of the axes, Respectively represent Motor The proportional and integral coefficients of the axes.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] 1. The present invention proposes a method for constructing a speed synchronization controller for multiple permanent magnet synchronous motors based on a distributed observer. For an uninformed motor group that cannot directly obtain neighboring leader information, a designed distributed observer is used to obtain the leader system state observation values ​​transmitted by the neighboring motors in the communication topology, thereby accurately estimating the leader's system state. This method solves the problem that in actual control situations, due to the constraints of the communication network, some motors cannot directly obtain information from the leader for feedback control, thereby realizing speed synchronization and interference suppression of multiple permanent magnet synchronous motors under the constraints of the communication network.

[0057] 2. The present invention adopts a speed-current dual closed-loop control structure, which integrates the dual control mechanisms of the speed loop and the current loop, can effectively improve the dynamic performance and steady-state performance of the system, and the speed loop controller only needs to be designed according to the speed equation model of the permanent magnet synchronous motor, which simplifies the model and is easier to apply in practice. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a principle block diagram of the speed synchronization control of multiple permanent magnet synchronous motors of the present invention;

[0059] Figure 2 It is a communication topology diagram of a multi-permanent magnet synchronous motor of the present invention;

[0060] Figure 3 It is a speed tracking curve diagram of the multi-permanent magnet synchronous motor of the present invention;

[0061] Figure 4 The multi-permanent magnet synchronous motor of the present invention Current graph;

[0062] Figure 5 The multi-permanent magnet synchronous motor of the present invention Current graph. DETAILED DESCRIPTION

[0063] The present invention is further described below in conjunction with the accompanying drawings; it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0064] The present invention provides a method for constructing a multi-permanent magnet synchronous motor speed synchronization controller based on a distributed observer, such as Figure 1 As shown, the method comprises the following steps:

[0065] Step 1: Create a A multi-permanent magnet synchronous motor system composed of permanent magnet synchronous motors;

[0066] Use formula (1) to establish a multi-permanent magnet synchronous motor system:

[0067] (1)

[0068] In formula (1): , represents the number of permanent magnet synchronous motors, Respectively represent The rotor angular velocity of a permanent magnet synchronous motor , Shaft stator current and Shaft stator current , Respectively The derivative of Respectively represent Permanent magnet synchronous motor Axis and The stator voltage of the shaft, Indicates The moment of inertia of a permanent magnet synchronous motor, Indicates The armature inductance of a permanent magnet synchronous motor, Indicates The stator resistance of a permanent magnet synchronous motor, Indicates The number of pole pairs of a permanent magnet synchronous motor, Indicates The rotor flux of a permanent magnet synchronous motor, Indicates The load torque of a permanent magnet synchronous motor, Indicates The viscous friction coefficient of a permanent magnet synchronous motor.

[0069] Step 2: Build an external system and act as a leader, and together with the multi-PMSM system form an intelligent agent with the number of agents being A multi-agent system, in which the multi-permanent magnet synchronous motor system The permanent magnet synchronous motor is a follower;

[0070] Depending on whether the leader information can be obtained directly, Permanent magnet synchronous motors are divided into The informed motor group consisting of motors and The uninformed motor group composed of motors is constructed to construct a closed-loop system of multi-PMSM speed loop based on cooperative output regulation theory, and .

[0071] Step 2.1: Use formula (2) to build an external system:

[0072] (2)

[0073] In formula (2), represents the state variables of the external system, express The derivative of The system matrix representing the external system, represents the reference speed, A constant matrix representing the reference velocity, Indicates The load torque of a permanent magnet synchronous motor, Indicates The load torque constant matrix of a permanent magnet synchronous motor;

[0074] At this point, the multi-permanent magnet synchronous motor system and the external system can be regarded as a A multi-agent system in which the external system acts as a leader system and the multi-permanent magnet synchronous motor system Permanent magnet synchronous motors are used as followers. Due to the constraints of the communication network, some motors cannot directly obtain information from the leader. Therefore, depending on whether the leader information can be obtained directly, The permanent magnet synchronous motors are divided into two groups; the motors that can directly obtain the leader information are called informed motors, and the motors that cannot directly obtain the leader information are called uninformed motors; and it is assumed that the informed motor group consists of motors, the uninformed motor group consists of motors, and .

[0075] Step 2.2: Define State variables of a permanent magnet synchronous motor , No. State matrix of a permanent magnet synchronous motor , No. Input matrix of a permanent magnet synchronous motor , No. The state disturbance matrix of a permanent magnet synchronous motor , No. Control input of permanent magnet synchronous motor , and then use formula (3) to establish the The speed loop equation of a permanent magnet synchronous motor:

[0076] (3)

[0077] In formula (3), Indicates State variables of a permanent magnet synchronous motor The derivative of .

[0078] Step 2.3: Use formula (4) to establish The speed tracking error equation of a permanent magnet synchronous motor is:

[0079] (4)

[0080] In formula (4), Indicates Speed ​​tracking error of a permanent magnet synchronous motor;

[0081] Step 2.4: Formula (2), Formula (3) and Formula (4) together form the The closed-loop system of the permanent magnet synchronous motor speed loop is The closed-loop system of the speed loop of each permanent magnet synchronous motor constitutes a closed-loop system of the speed loop of multiple permanent magnet synchronous motors based on the cooperative output regulation theory; at this time, the speed synchronization control problem of the multiple permanent magnet synchronous motor system has been described as a multi-agent collaborative output regulation problem, and its control goal is to make the closed-loop system of the speed loop of multiple permanent magnet synchronous motors stable and the steady-state tracking error asymptotically approach to zero under the constraints of the communication network.

[0082] Step 3: Construct a directed communication topology to describe the information transmission between each agent in the multi-agent system composed of the external system and the multi-permanent magnet synchronous motor system;

[0083] Defining the communication topology , where the vertex set of the topological graph is express Multi-agents; edge sets of topological graphs express The interaction relationship between multiple intelligent agents; Representing an Agent and Agent The adjacent relationship between hour and , .

[0084] Step 4: Design A Romberg observer is used to observe the first The closed-loop system state of each permanent magnet synchronous motor and the leader system state;

[0085] Design The Romberg observer and The distributed observers are used to observe the first The closed-loop system state of a permanent magnet synchronous motor and the leader system state.

[0086] Step 4.1: Use formula (5) to establish The measured output equation of a permanent magnet synchronous motor is:

[0087] (5)

[0088] In formula (5), Indicates The measured output of a permanent magnet synchronous motor, For the A constant variable, when the permanent magnet synchronous motor belongs to the informed motor group, let , when the permanent magnet synchronous motor belongs to the uninformed motor group, let .

[0089] Step 4.2: Use formula (6) to establish Romberg observer for permanent magnet synchronous motor:

[0090] (6)

[0091] In formula (6), Respectively represent A Romberg observer The observed values ​​of the speed of the permanent magnet synchronous motor and the observed values ​​of the leader system state, Respectively The derivative of Respectively represent The state matrix, input matrix and state disturbance matrix of a permanent magnet synchronous motor, Respectively represent Control input and measurement output of permanent magnet synchronous motors, Respectively represent There are two gains of a Romberg observer, and they satisfy All eigenvalues ​​of have negative real parts.

[0092] Step 4.3: Use equations (7) and (8) to establish Romberg observer and distributed observer for permanent magnet synchronous motor:

[0093] (7)

[0094] (8)

[0095] In formula (7)-formula (8), Indicates A Romberg observer The observed value of the speed of a permanent magnet synchronous motor, express The derivative of Indicates The distributed observer The observed values ​​of the permanent magnet synchronous motor leader system state, express The derivative of Respectively represent The state matrix, input matrix and state disturbance matrix of a permanent magnet synchronous motor, Respectively represent Control input and measurement output of permanent magnet synchronous motors, Respectively represent The first permanent magnet synchronous motor and the Observed values ​​of the leader system state of a permanent magnet synchronous motor, Indicates The gain of a Romberg observer satisfies The value of is negative, Is a positive number.

[0096] Step 5: Design a speed loop controller based on the Romberg observer for the speed loop of the informed motor group;

[0097] For the speed loop of the uninformed motor group, a speed loop controller based on the Romberg observer and distributed observer is designed;

[0098] Step 5.1: Use formula (9) to construct The linear matrix equation corresponding to the closed-loop system of the speed loop of a permanent magnet synchronous motor is:

[0099] (9)

[0100] In formula (9), Respectively represent The steady-state state matrix and steady-state input matrix of a permanent magnet synchronous motor are:

[0101] (10)

[0102] In formula (10), Respectively represent Steady-state state and steady-state input of a permanent magnet synchronous motor.

[0103] Step 5.2: Use equations (11) and (12) to construct the controllers of the motor speed loops of the informed motor group and the uninformed motor group respectively:

[0104] (11)

[0105] (12)

[0106] In formula (11)-formula (12), Respectively represent Taiwan and the The control input of the speed loop of a permanent magnet synchronous motor, Indicates The two controller gains for the motors are The value of is negative, .

[0107] Step 6: Design a PI controller for the current loops of the informed motor group and the uninformed motor group, thereby forming a multi-permanent magnet synchronous motor speed synchronization controller with the two speed loop controllers;

[0108] Using formula (12) to construct PI controller of the current loop of a permanent magnet synchronous motor:

[0109] (13)

[0110] In formula (12), Indicates Permanent magnet synchronous motor The reference current of the axis, Determined by the speed loop; for the first Permanent magnet synchronous motor, ; For the first motor group that is not aware of the Permanent magnet synchronous motor, ; Respectively represent Motor The proportional and integral coefficients of the axes, Respectively represent Motor The proportional and integral coefficients of the axes.

[0111] Formula (11), formula (12) and formula (13) form the The speed synchronous controller of the motor is as follows:

[0112]

[0113]

[0114]

[0115] Figure 1 The figure is a principle block diagram of the speed synchronization controller proposed in the present invention; in order to verify the effectiveness of the proposed method, the present invention simulates and verifies the control effect of the speed synchronization controller;

[0116] The specific parameters of the selected permanent magnet synchronous motor are shown in Table 1:

[0117] Table 1

[0118]

[0119] Figure 2 This is the communication topology diagram of the multi-permanent magnet synchronous motor of the present invention, such as Figure 2 As shown, select Reference signal Load torque , , , , the external system parameters are as follows:

[0120]

[0121] The controller parameters are selected as follows:

[0122]

[0123] and The current loop PI parameters are: .

[0124] By using the above series of parameters and applying the method of the present invention to control the multi-permanent magnet synchronous motor, the simulation results shown in the accompanying drawings are obtained; Figure 3 This is the speed tracking curve of the multi-permanent magnet synchronous motor. The curve in the figure reflects that the designed controller has good speed synchronization performance under the condition of communication network constraints. Figure 4 and Figure 5 Multi-permanent magnet synchronous motor and The current curves are all within the rated current of the permanent magnet synchronous motor, verifying the practical feasibility of the present invention.

[0125] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for constructing a multi-permanent magnet synchronous motor speed synchronization controller based on a distributed observer, characterized in that: The following steps are involved: Step 1: Create a A multi-permanent magnet synchronous motor system composed of permanent magnet synchronous motors; Step 2: Build an external system and act as a leader, and together with the multi-PMSM system form an intelligent agent with the number of agents being A multi-agent system, in which the multi-permanent magnet synchronous motor system The permanent magnet synchronous motor is a follower; Depending on whether the leader information can be obtained directly, Permanent magnet synchronous motors are divided into The informed motor group consisting of motors and A closed-loop system of multi-PMSM speed loops based on cooperative output regulation theory is constructed by using an uninformed motor group composed of 3 motors. ; Step 3: Construct a directed communication topology to describe the information transmission between each agent in the multi-agent system composed of the external system and the multi-permanent magnet synchronous motor system; Defining the communication topology , where the communication topology diagram The vertex set express Multi-agent communication topology The edge set express The interaction relationship between multiple intelligent agents; Representing an Agent and Agent The adjacent relationship between hour, and , ; Step 4: Design A Romberg observer is used to observe the first The closed-loop system state of each permanent magnet synchronous motor and the leader system state, ; Design The Romberg observer and The distributed observers are used to observe the first The closed-loop system state of each permanent magnet synchronous motor and the leader system state, ; Step 5: Design a speed loop controller based on the Romberg observer for the speed loop of the informed motor group; For the speed loop of the uninformed motor group, a speed loop controller based on the Romberg observer and distributed observer is designed; Step 6: Design a PI controller for the current loops of the informed motor group and the uninformed motor group, thereby forming a multi-permanent magnet synchronous motor speed synchronization controller with the two speed loop controllers.

2. The method for constructing a multi-permanent magnet synchronous motor speed synchronization controller based on a distributed observer as claimed in claim 1, characterized in that: In step 1, a multi-permanent magnet synchronous motor system is established using formula (1): (1) In formula (1): , represents the number of permanent magnet synchronous motors, Respectively represent The rotor angular velocity of a permanent magnet synchronous motor , Shaft stator current and Shaft stator current , Respectively The derivative of Respectively represent Permanent magnet synchronous motor Axis and The stator voltage of the shaft, Indicates The moment of inertia of a permanent magnet synchronous motor, Indicates The armature inductance of a permanent magnet synchronous motor, Indicates The stator resistance of a permanent magnet synchronous motor, Indicates The number of pole pairs of a permanent magnet synchronous motor, Indicates The rotor flux of a permanent magnet synchronous motor, Indicates The load torque of a permanent magnet synchronous motor, Indicates The viscous friction coefficient of a permanent magnet synchronous motor.

3. The method for constructing a multi-permanent magnet synchronous motor speed synchronization controller based on a distributed observer as claimed in claim 2, characterized in that: The step 2 comprises: Step 2.1: Use formula (2) to build an external system: (2) In formula (2), represents the state variables of the external system, express The derivative of The system matrix representing the external system, represents the reference speed, A constant matrix representing the reference velocity, Indicates The load torque of a permanent magnet synchronous motor, Indicates The load torque constant matrix of a permanent magnet synchronous motor; Step 2.2: Define State variables of a permanent magnet synchronous motor , No. State matrix of a permanent magnet synchronous motor , No. Input matrix of a permanent magnet synchronous motor , No. The state disturbance matrix of a permanent magnet synchronous motor , No. Control input of permanent magnet synchronous motor , and then use formula (3) to establish the The speed loop equation of a permanent magnet synchronous motor: (3) In formula (3), Indicates State variables of a permanent magnet synchronous motor The derivative of Step 2.3: Use formula (4) to establish The speed tracking error equation of a permanent magnet synchronous motor is: (4) In formula (4), Indicates Speed ​​tracking error of a permanent magnet synchronous motor; Step 2.4: Formula (2), Formula (3) and Formula (4) together form the The closed-loop system of the permanent magnet synchronous motor speed loop is The closed-loop system of the speed loops of permanent magnet synchronous motors constitutes a closed-loop system of the speed loops of multiple permanent magnet synchronous motors based on the cooperative output regulation theory.

4. The method for constructing a multi-permanent magnet synchronous motor speed synchronization controller based on a distributed observer as claimed in claim 3, characterized in that: The step 4 comprises: Step 4.1: Use formula (5) to establish The measured output equation of a permanent magnet synchronous motor is: (5) In formula (5), Indicates The measured output of a permanent magnet synchronous motor, For the A constant variable, when the permanent magnet synchronous motor belongs to the informed motor group, let , when the permanent magnet synchronous motor belongs to the uninformed motor group, let ; Step 4.2: Use formula (6) to establish Romberg observer for permanent magnet synchronous motor: (6) In formula (6), Respectively represent A Romberg observer The observed values ​​of the speed of the permanent magnet synchronous motor and the observed values ​​of the leader system state, Respectively The derivative of Respectively represent The state matrix, input matrix and state disturbance matrix of a permanent magnet synchronous motor, Respectively represent Control input and measurement output of permanent magnet synchronous motors, Respectively represent There are two gains of a Romberg observer, and they satisfy All eigenvalues ​​of have negative real parts; Step 4.3: Use equations (7) and (8) to establish Romberg observer and distributed observer for permanent magnet synchronous motor: (7) (8) In formula (7)-formula (8), Indicates A Romberg observer The observed value of the speed of a permanent magnet synchronous motor, express The derivative of Indicates The distributed observer The observed values ​​of the permanent magnet synchronous motor leader system state, express The derivative of Respectively represent The state matrix, input matrix and state disturbance matrix of a permanent magnet synchronous motor, Respectively represent Control input and measurement output of permanent magnet synchronous motors, Respectively represent The first permanent magnet synchronous motor and the Observed values ​​of the leader system state of a permanent magnet synchronous motor, Indicates The gain of a Romberg observer satisfies The value of is negative, Is a positive number.

5. The method for constructing a multi-permanent magnet synchronous motor speed synchronization controller based on a distributed observer as claimed in claim 1, characterized in that: The step 5 comprises: Step 5.1: Use formula (9) to construct The linear matrix equation corresponding to the closed-loop system of the speed loop of a permanent magnet synchronous motor is: (9) In formula (9), Respectively represent The steady-state state matrix and steady-state input matrix of a permanent magnet synchronous motor are: (10) In formula (10), Respectively represent The steady-state state and steady-state input of a permanent magnet synchronous motor; Step 5.2: Use equations (11) and (12) to construct the controllers of the motor speed loops of the informed motor group and the uninformed motor group respectively: (11) (12) In formula (11)-formula (12), Respectively represent Taiwan and the The control input of the speed loop of a permanent magnet synchronous motor, Indicates The two controller gains for the motors are The value of is negative, .

6. The method for constructing a multi-permanent magnet synchronous motor speed synchronization controller based on a distributed observer according to claim 1, characterized in that: In step 6, formula (12) is used to construct the PI controller of the current loop of a permanent magnet synchronous motor: (13) In formula (13), Indicates Permanent magnet synchronous motor The reference current of the axis, Determined by the speed loop; for the first Permanent magnet synchronous motor, ; For the first motor group that is not aware of the Permanent magnet synchronous motor, ; Respectively represent Motor The proportional and integral coefficients of the axes, Respectively represent Motor The proportional and integral coefficients of the axes.

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