Novel discrete sliding mode tracking control method, system and equipment for multi-motor driving system and medium

Abstract

The invention discloses a novel discrete sliding mode tracking control method, system and device for a multi-motor driving system and a medium. Belongs to the technical field of multi-motor driving system control. According to a feature modeling theory, a multi-motor driving system feature model for position tracking control is established, and the model is lower in order and fewer in parameter compared with a conventional dynamic model; a recursive least square method with a forgetting factor is adopted to carry out on-line identification on characteristic model parameters, and the characteristic model parameters are projected to a parameter range set; a multi-power second-order sliding mode surface is designed to accelerate the convergence speed of the tracking error in different error bands; a novel discrete sliding mode tracking control method of a multi-motor driving system is designed, high-precision tracking control is achieved, and meanwhile sliding mode buffeting is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of multi - motor drive system control, and particularly relates to a novel discrete - sliding - mode tracking control method, system, device and medium for a multi - motor drive system. Background Art

[0002] The multi - motor drive system can provide sufficient torque and power for large - inertia loads. This system has a high order, many parameters and a complex structure. Existing methods often use the backstepping method to design the controller, and introduce sliding - mode control, optimal control, adaptive control, intelligent control, etc. into the backstepping method to improve the control performance. However, when the backstepping method is used for high - order systems, the repeated differentiation of the virtual control law will cause the problem of "differential explosion". Although the dynamic - surface control and the command - filtering control obtain the differentiation of the virtual control law through the command filter, which can avoid this problem, the introduction of the command filter and its compensation mechanism increases the algorithm complexity. From a practical point of view, most of the existing methods are too complex and cumbersome to debug, which is not conducive to practical engineering applications.

[0003] Feature modeling is a new control - oriented modeling method, which is suitable for the actual modeling problems of complex objects with unknown parameters and uncertainties. Different from traditional modeling methods, the feature - modeling method captures the main dynamic characteristics and control - performance requirements of the object, and combines the input - output data for modeling. Its form is generally a low - order time - varying discrete model derived by the discretization method, which can provide a basis for the design of practical controllers. Discrete - sliding - mode control, due to its simplicity, good rapidity and strong robustness, is often combined with the feature model for motion control. However, the existing discrete - sliding - mode control will show a slowdown in the convergence speed when the error is far from the equilibrium point, and may exhibit chattering problems after entering the sliding - mode band. Although the chattering can be weakened by improving the switching control term, the robustness of the sliding - mode control is also weakened at the same time. Therefore, how to design a sliding - mode controller based on the feature model for the multi - motor drive system, further improve the error - convergence speed, reduce chattering while maintaining good robustness is a challenge. Summary of the Invention

[0004] Aiming at the deficiencies in the prior art, the present invention provides a novel discrete - sliding - mode tracking control method, system, device and medium for a multi - motor drive system, which can achieve fast and high - precision tracking, reduce chattering, and have good robustness.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A novel discrete - sliding - mode tracking control method for a multi - motor drive system, comprising the following steps:

[0007] Step 1: Based on the input and output of the controlled object, establish a characteristic model of the multi-motor drive system for position tracking control; the controlled object is the multi-motor drive system, the input is the speed command, and the output is the position response;

[0008] Step 2: Use the recursive least squares method with a forgetting factor to online identify the parameters of the characteristic model of the multi-motor drive system and project them onto the parameter range set;

[0009] Step 3: Based on the parameters of the projected characteristic model of the multi-motor drive system, design a new discrete sliding mode tracking control method for the multi-motor drive system to achieve position tracking control and the tracking error converges within a finite time.

[0010] To optimize the above technical solution, the specific measures taken also include:

[0011] Further, Step 1 is specifically:

[0012] Taking the speed command as the input and the position response as the output, according to the characteristic modeling theory, establish a characteristic model of the multi-motor servo system for position tracking control:

[0013] x(k + 1) = f 1 (k)x(k) + f 2 (k)x(k - 1) + g 0 (k)u(k)

[0014] where, x(k) is the position response; u(k) is the speed command; f 1 (k), f 2 (k), g 0 (k) are the characteristic model parameters.

[0015] Further, Step 2 is specifically:

[0016] Define the data vector as:

[0017] f(k - 1) = [x(k - 1) x(k - 2) u(k - 1)] T

[0018] In the formula, f(k - 1) represents the data vector at the (k - 1)-th sampling moment, x(k - 1) represents the position response at the (k - 1)-th sampling moment, x(k - 2) represents the position response at the (k - 2)-th sampling moment, u(k - 1) represents the speed command at the (k - 1)-th sampling moment; the superscript T represents the transpose;

[0019] Define the parameter vector q(k) as:

[0020] q(k) = [f 1 (k) f 2 (k) g0 (k)] T

[0021] In the formula, f 1 (k) is the first parameter of the feature model, f 2 (k) is the second parameter of the feature model, g 0 (k) is the third parameter of the feature model;

[0022] The following recursive least squares method with a forgetting factor is used to perform online identification of the feature parameters:

[0023]

[0024] Among them, K(k) is the Kalman gain vector; P(k) is the covariance matrix; I is the identity matrix; is the original identified parameter vector at the k-th sampling moment; is the projected identified parameter vector at the k-th sampling moment; is the projected identified parameter vector at the (k - 1)-th sampling moment, m is the forgetting factor, satisfying 0 < m < 1; G(×) is the projection operator that projects the identified parameter vector onto its parameter range set. When the identified parameter vector exceeds the range, the value of each identified parameter is equal to the value of the nearest range boundary; the parameter range set D is:

[0025]

[0026] Among them, T is the sampling time; L is the maximum value of the set system parameter change rate.

[0027] Furthermore, step 3 is specifically:

[0028] Design a first-order sliding mode surface as:

[0029] s(k) = le(k)

[0030] Among them, s(k) represents the first-order sliding mode surface at the k-th sampling moment, e(k) = x(k) - x d (k) is the tracking error; x d (k) is the desired position; x(k) is the actual position; l > 0 is the first-order sliding mode surface coefficient;

[0031] Design a multi-power second-order sliding mode surface as:

[0032]

[0033] Among them, s(k) represents the second-order sliding mode surface at the k-th sampling moment, Ds(k) = s(k) - s(k - 1); s(k - 1) represents the first-order sliding mode surface at the (k - 1)-th sampling moment, Ds(k) represents the backward difference of the first-order sliding mode surface, 0 < l 0 <1, l 1 > 0 and l 2 > 0 are the coefficients of the second-order sliding mode surface; g 1 > 1 and 0 < g 2 < 1 is the power of the second-order sliding mode surface, where g 1 is used to accelerate the convergence rate of the tracking error within the error band, and g 2 is used to improve the accuracy of the tracking error within the error band;

[0034] Design an improved second-order sliding mode surface reaching law as:

[0035]

[0036] Among them, s(k + 1) represents the second-order sliding mode surface at the (k + 1)-th sampling moment, 0 < r < 1 and e > 0 are the controller coefficients, is the variable-speed reaching function; e is the natural base; b is the power coefficient;

[0037] Design the equivalent control part as:

[0038]

[0039] Among them, l is the coefficient of the first-order sliding mode surface, is the third parameter of the projected characteristic model, is the first parameter of the projected characteristic model, is the second parameter of the projected characteristic model, sgn(×) is the sign function; u eq (k) represents the equivalent control part, x d (k + 1) represents the expected position at the next sampling moment;

[0040] Design the switching control part as:

[0041]

[0042] Among them, u sw (k) represents the switching control part at the k-th sampling moment, u sw (k - 1) represents the switching control part at the (k - 1)-th sampling moment;

[0043] Finally, design the new discrete sliding mode tracking controller for the multi-motor drive system as:

[0044] u(k) = u eq (k) + u sw (k)

[0045] Wherein, u(k) is the speed command, which is used to input the multi-motor drive system to achieve position tracking control.

[0046] The present invention also proposes a novel discrete sliding mode tracking control system for a multi-motor drive system, including:

[0047] A modeling module, which is used to establish a characteristic model of the multi-motor drive system for position tracking control based on the input and output of the controlled object; the controlled object is the multi-motor drive system, the input is the speed command, and the output is the position response;

[0048] A parameter identification module, which is used to online identify the parameters of the characteristic model of the multi-motor drive system by using the recursive least squares method with a forgetting factor and project them into the parameter range set;

[0049] A novel discrete sliding mode tracking controller for the multi-motor drive system, which is used to output a speed command based on the parameters of the projected characteristic model of the multi-motor drive system and the tracking error, so as to achieve position tracking control and the tracking error converges within a finite time.

[0050] The present invention also proposes an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned novel discrete sliding mode tracking control method for the multi-motor drive system is implemented.

[0051] The present invention also proposes a computer-readable storage medium storing a computer program, and the computer program causes a computer to execute the above-mentioned novel discrete sliding mode tracking control method for the multi-motor drive system.

[0052] The beneficial effects of the present invention are as follows: The present invention establishes a characteristic model of the multi-motor drive system for position tracking control, which has the characteristics of low order and few parameters. The recursive least squares method with a forgetting factor is used to online identify the parameters of the characteristic model, and the model parameter identification value can be quickly obtained, which provides convenience for the design of practical discrete controllers. The present invention designs a multi-power second-order sliding mode surface, which speeds up the convergence rate of the tracking error in the large error band and the small error band. The present invention designs a discrete high-order sliding mode controller, which combines an improved second-order sliding mode surface reaching law, improves the tracking accuracy, and reduces the sliding mode chattering. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a control block diagram of the novel discrete sliding mode tracking control method for the multi-motor drive system in the embodiment of the present invention.

[0054] Figure 2 It is a curve graph of the expected position and the actual position of the step signal after adopting the control method of the present invention.

[0055] Figure 3 It is the curve graph of the step signal tracking error after adopting the control method of the present invention.

[0056] Figure 4 It is the curve graph of the expected position and the actual position of the ramp signal after adopting the control method of the present invention.

[0057] Figure 5 It is the curve graph of the ramp signal tracking error after adopting the control method of the present invention.

[0058] Figure 6 It is the curve graph of the expected position and the actual position of the sine signal after adopting the control method of the present invention.

[0059] Figure 7 It is the curve graph of the sine signal tracking error after adopting the control method of the present invention. Detailed implementation manners

[0060] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.

[0061] Embodiment 1

[0062] The present invention proposes a new discrete sliding mode tracking control method for a multi-motor drive system, as Figure 1 shown, including the following steps:

[0063] Step 1: Based on the characteristic modeling theory, establish a characteristic model of the multi-motor drive system for position tracking control based on the input and output of the controlled object; specifically, Step 1 is as follows:

[0064] Based on the characteristic modeling theory, with the speed command as the input and the position response as the output, establish a characteristic model of the multi-motor drive system for position tracking control:

[0065] x(k + 1) = f 1 (k)x(k) + f 2 (k)x(k - 1) + g 0 (k)u(k)

[0066] where x(k) is the position response; k represents the kth sampling moment, u(k) is the speed command; f 1 (k) is the first parameter of the characteristic model, f 2 (k) is the second parameter of the characteristic model, g 0 (k) is the third parameter of the characteristic model.

[0067] Step 2: Use the recursive least squares method with a forgetting factor to perform online identification of the characteristic model parameters and project them onto the parameter range set. Step 2 is specifically as follows:

[0068] Define the data vector as:

[0069] f(k - 1) = [x(k - 1) x(k - 2) u(k - 1)] T

[0070] In the formula, f(k - 1) represents the data vector at the (k - 1)-th sampling moment, x(k - 1) represents the position response at the (k - 1)-th sampling moment, x(k - 2) represents the position response at the (k - 2)-th sampling moment, u(k - 1) represents the speed command at the (k - 1)-th sampling moment; the superscript T represents transpose;

[0071] Define the parameter vector as:

[0072] q(k) = [f 1 (k) f 2 (k) g 0 (k)] T

[0073] In the formula, f 1 (k) is the first parameter of the characteristic model, f 2 (k) is the second parameter of the characteristic model, g 0 (k) is the third parameter of the characteristic model;

[0074] Use the following recursive least squares method with a forgetting factor to perform online identification of the characteristic parameters:

[0075]

[0076] where, K(k) is the Kalman gain vector; P(k) is the covariance matrix; I is the identity matrix; is the originally identified parameter vector at the k-th sampling moment; is the projected identified parameter vector at the k-th sampling moment; is the projected identified parameter vector at the (k - 1)-th sampling moment, m is the forgetting factor, satisfying 0 < m < 1; G(×) is the projection operator that projects the identified parameter vector onto its parameter range set. When the identified parameter vector exceeds the range, the values of each identified parameter are equal to the value of the nearest range boundary; the parameter range set D is:

[0077]

[0078] where, T is the sampling time; L is the maximum value of the set system parameter change rate.

[0079] Step 3: Based on the parameters of the projected multi-motor drive system characteristic model, design a new discrete sliding mode tracking control method for the multi-motor drive system to achieve position tracking control and the tracking error converges within a finite time. Step 3 is specifically as follows:

[0080] Design a first-order sliding mode surface as:

[0081] s(k) = le(k)

[0082] where s(k) represents the first-order sliding mode surface at the k-th sampling moment, e(k) = x(k) - x d (k) is the tracking error; x d (k) is the desired position; x(k) is the actual position; l > 0 is the first-order sliding mode surface coefficient;

[0083] Design a multi-power second-order sliding mode surface as:

[0084]

[0085] where s(k) represents the second-order sliding mode surface at the k-th sampling moment, Ds(k) = s(k) - s(k - 1); s(k - 1) represents the first-order sliding mode surface at the (k - 1)-th sampling moment, Ds(k) represents the backward difference of the first-order sliding mode surface, 0 < l 0 <1, l 1 > 0 and l 2 > 0 are the second-order sliding mode surface coefficients; g 1 > 1 and 0 < g 2 < 1 are the second-order sliding mode surface powers, where g 1 is used to accelerate the convergence rate of the tracking error in the large error band, and g 2 is used to improve the accuracy of the tracking error in the small error band;

[0086] Design an improved second-order sliding mode surface reaching law as:

[0087]

[0088] where s(k + 1) represents the second-order sliding mode surface at the (k + 1)-th sampling moment, 0 < r < 1 and e > 0 are the controller coefficients, is the variable speed reaching function; e is the natural base; b is the power coefficient;

[0089] Design the equivalent control part as:

[0090]

[0091] where l is the first-order sliding mode surface coefficient, is the third parameter of the projected characteristic model, is the first parameter of the projected characteristic model, is the second parameter of the projected feature model, and sgn(×) is the sign function; u eq (k) represents the equivalent control part, and x d (k + 1) represents the expected position at the next sampling moment;

[0092] The switching control part is designed as:

[0093]

[0094] where u sw (k) represents the switching control part at the k-th sampling moment, and u sw (k - 1) represents the switching control part at the (k - 1)-th sampling moment;

[0095] Finally, the new discrete sliding mode tracking controller for the multi-motor drive system is designed as:

[0096] u(k) = u eq (k) + u sw (k)

[0097] In the formula, u(k) is the speed command, which is used to input the multi-motor drive system to achieve position tracking control.

[0098] Embodiment 2

[0099] The present invention proposes a new discrete sliding mode tracking control system for a multi-motor drive system corresponding to the method of Embodiment 1, including:

[0100] A modeling module, which is used to establish a feature model of the multi-motor drive system for position tracking control based on the input and output of the controlled object; the controlled object is the multi-motor drive system, the input is the speed command, and the output is the position response;

[0101] A parameter identification module, which is used to perform online identification of the parameters of the feature model of the multi-motor drive system by using the recursive least squares method with a forgetting factor and project them into the parameter range set;

[0102] A new discrete sliding mode tracking controller for the multi-motor drive system, which is used to output a speed command based on the parameters of the projected feature model of the multi-motor drive system and the tracking error, so as to achieve position tracking control and the tracking error converges within a finite time.

[0103] The implementation manners of each module and the module functions in the system are exactly the same as the steps of the method in Embodiment 1, so they will not be described in detail here.

[0104] Embodiment 3

[0105] The present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, a novel discrete sliding mode tracking control method for a multi-motor drive system as described in Embodiment 1 is implemented.

[0106] Embodiment 4

[0107] The present invention provides a computer-readable storage medium storing a computer program, which causes a computer to execute a novel discrete sliding mode tracking control method for a multi-motor drive system as described in Embodiment 1.

[0108] Next, the novel discrete sliding mode tracking control method for a multi-motor drive system proposed by the present invention is experimentally verified on a multi-motor drive system experimental platform to verify the feasibility of the control method proposed by the present invention:

[0109] Control parameters: r = 0.025, e = 0.003, b = 10, l 0 = 0.06, l 1 = 0.035, l 2 = 0.12, g 1 = 13 / 11, g 2 = 9 / 11, l = 5.

[0110] A step tracking experiment is carried out, and the desired position signal is x d = p / 3 rad.

[0111] Figure 2 and Figure 3 show the step tracking performance. Figure 2 In, the actual position quickly tracks the desired position during the dynamic process. Figure 3 In, the tracking error quickly converges, and the steady-state tracking error is very small.

[0112] A ramp tracking experiment is carried out, and the desired position signal is x d = p / 3 × t rad.

[0113] Figure 4 and Figure 5 show the ramp tracking performance. Figure 4 In, the actual position quickly responds and approaches the desired position during the dynamic process. Figure 3 In, the tracking error first increases and then quickly converges, and the steady-state tracking error is very small.

[0114] A sine tracking experiment is carried out, and the desired position signal is x d = p / 3 × sin(t - p / 2) + p / 3 rad.

[0115] Figure 6 and Figure 7 show the sine tracking performance.Figure 6 The actual position can closely follow the desired position. Figure 7 The tracking error fluctuates within a very small range.

[0116] The experimental results show that the novel discrete sliding mode tracking control method for the multi-motor drive system proposed by the present invention can enable the actual position to quickly, smoothly and accurately track the desired position, the tracking error can converge to a small error band within a finite time, and the chattering phenomenon is not obvious.

[0117] In the embodiments disclosed in the present application, the computer storage medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of the computer storage medium would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.

[0118] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0119] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the technical field, several improvements and refinements made without departing from the principle of the present invention should be regarded as within the protection scope of the present invention.

Claims

1. A novel discrete sliding mode tracking control method for a multi-motor drive system, characterized in that: Including the following steps: Step 1: Based on the input and output of the controlled object, establish a characteristic model of the multi-motor drive system for position tracking control; the controlled object is the multi-motor drive system, the input is the speed command, and the output is the position response; Step 2: Use the recursive least squares method with a forgetting factor to online identify the parameters of the multi-motor drive system characteristic model and project them onto the parameter range set; Step 3: Based on the parameters of the projected multi-motor drive system characteristic model, design a new discrete sliding mode tracking control method for the multi-motor drive system to achieve position tracking control and the tracking error converges within a finite time.

2. The novel discrete sliding mode tracking control method for a multi-motor drive system according to claim 1, characterized in that: Specifically, Step 1 is: Taking the speed command as the input and the position response as the output, establish a characteristic model of the multi-motor drive system for position tracking control: x(k + 1) = f1(k)x(k) + f2(k)x(k - 1) + g0(k)u(k) where, x(k) is the position response; k represents the k-th sampling moment, u(k) is the speed command; f1(k) is the first parameter of the characteristic model, f2(k) is the second parameter of the characteristic model, and g0(k) is the third parameter of the characteristic model.

3. The novel discrete sliding mode tracking control method for a multi-motor drive system according to claim 1, characterized in that: Specifically, Step 2 is: Define the data vector as: f(k-1)=[x(k-1)x(k-2)u(k-1)] T In the formula, f(k - 1) represents the data vector at the (k - 1)-th sampling moment, x(k - 1) represents the position response at the (k - 1)-th sampling moment, x(k - 2) represents the position response at the (k - 2)-th sampling moment, u(k - 1) represents the speed command at the (k - 1)-th sampling moment; the superscript T represents transpose; Define the parameter vector q(k) as: q(k)=[f1(k)f2(k)g0(k)] T In the formula, f1(k) is the first parameter of the characteristic model, f2(k) is the second parameter of the characteristic model, and g0(k) is the third parameter of the characteristic model; Use the following recursive least squares method with a forgetting factor to online identify the characteristic parameters: where, K(k) is the Kalman gain vector; P(k) is the covariance matrix; I is the identity matrix; is the original identified parameter vector at the k-th sampling moment; is the projected identified parameter vector at the k-th sampling moment; is the projected identified parameter vector at the (k - 1)-th sampling moment, m is the forgetting factor, satisfying 0 < m < 1; G(×) is the projection operator that projects the identified parameter vector onto the set of its parameter ranges. When the identified parameter vector exceeds the range, the value of each identified parameter is equal to the value of the nearest range boundary; the parameter range set D is: where, T is the sampling time; L is the maximum value of the set system parameter change rate.

4. The novel discrete sliding mode tracking control method for a multi-motor drive system according to claim 1, characterized in that: Specifically, Step 3 is: Design the first-order sliding mode surface as: s(k) = le(k) Where s(k) represents the first-order sliding surface at the kth sampling moment, e(k) = x(k)-x d (k) is the tracking error; x d (k) is the expected position; x(k) is the actual position; l>0 is the first-order sliding surface coefficient; Design a multi-power second-order sliding mode surface as: where, s(k) represents the second-order sliding mode surface at the k-th sampling moment, Ds(k) = s(k) - s(k - 1); s(k - 1) represents the first-order sliding mode surface at the (k - 1)-th sampling moment, Ds(k) represents the backward difference of the first-order sliding mode surface, 0 < l0 < 1, l1 > 0, and l2 > 0 are the coefficients of the second-order sliding mode surface; g1 > 1 and 0 < g2 < 1 are the powers of the second-order sliding mode surface, where g1 is used to accelerate the convergence speed of the tracking error within the error band, and g2 is used to improve the accuracy of the tracking error within the error band; Design an improved second-order sliding mode surface reaching law as: Among them, s(k + 1) represents the second-order sliding mode surface at the (k + 1)-th sampling moment, 0 < r < 1 and e > 0 are controller coefficients, is a variable-speed reaching function; e is the natural base; b is the power coefficient; Design the equivalent control part as: Where l is the first-order sliding surface coefficient, is the third parameter of the feature model after projection, is the first parameter of the feature model after projection, is the second parameter of the feature model after projection, sgn(×) is the sign function; u eq (k) represents the equivalent control part, x d (k+1) represents the expected position at the next sampling moment; Design the switching control part as: Among them, u sw (k) represents the switching control part at the kth sampling moment, u sw (k-1) represents the switching control part at the k-1th sampling moment; Finally, design a new discrete sliding mode tracking controller for the multi-motor drive system as: u(k)=u eq (k)+u sw (k) where, u(k) is the speed command, which is used to input the multi-motor drive system to achieve position tracking control.

5. A novel discrete sliding mode tracking control system for a multi-motor drive system, characterized in that: Including: A modeling module, which is used to establish a characteristic model of the multi-motor drive system for position tracking control based on the input and output of the controlled object; The controlled object is the multi-motor drive system, the input is the speed command, and the output is the position response; A parameter identification module is used to perform online identification of the parameters of the characteristic model of the multi-motor drive system using a recursive least square method with a forgetting factor, and project the parameters to a parameter range set; A novel discrete sliding mode tracking controller for a multi-motor drive system is used to output a speed command based on the parameters of the projected characteristic model of the multi-motor drive system and the tracking error, so as to realize position tracking control and ensure that the tracking error converges within a finite time.

6. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the novel discrete sliding mode tracking control method for a multi-motor drive system as described in any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: The computer program enables the computer to execute the novel discrete sliding mode tracking control method for a multi-motor drive system as described in any one of claims 1 to 4.

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