Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control

Area of Science:

• Control Systems Engineering
• Robotics
• Mechatronics

Background:

• Achieving precise synchronization in multi-motor systems is crucial for complex industrial applications.
• Existing control strategies often face challenges with scalability and robustness to uncertainties.

Purpose of the Study:

• To develop a new mean deviation coupling synchronization control strategy for multiple motor systems.
• To enhance synchronization precision, reduce control complexity, and improve robustness against disturbances and parameter variations.

Main Methods:

• Proposed a mean deviation coupling synchronization control architecture integrating a second-order adaptive sliding mode control (SOASMC) approach.
• Employed an adaptive law based on Lyapunov stability theorem to estimate uncertainty bounds and minimize control effort.
• Implemented and compared the proposed scheme with master-slave, relative coupling, ring coupling, PI, and conventional SMC on a four-motor system.

Main Results:

• The SOASMC-based strategy rapidly converges speed tracking errors, mean speed errors, and synchronization errors to zero.
• Demonstrated robustness to parameter variations and external disturbances, while mitigating chattering phenomena.
• Extensive comparative results confirmed superior performance over existing methods.

Conclusions:

• The proposed mean deviation coupling synchronization control strategy offers a robust and precise solution for multi-motor systems.
• It effectively addresses scalability challenges and minimizes control effort, making it suitable for advanced applications.
• The SOASMC approach provides significant advantages in synchronization accuracy and disturbance rejection.