Multi-motor position synchronization control method based on non-singular fast terminal sliding mode control

Area of Science:

• Control Systems Engineering
• Robotics
• Electrical Engineering

Background:

• Achieving high-precision position synchronization in multi-motor systems is crucial for complex industrial applications.
• Existing control methods like SMC, FTSMC, RCC, and DCC face limitations in accuracy and disturbance rejection.

Purpose of the Study:

• To develop and validate a novel multi-motor position synchronization control method.
• To enhance the coupling and synchronization performance between multiple motors.
• To improve the overall control accuracy and robustness against disturbances.

Main Methods:

• Design of a sliding mode controller using a non-singular fast terminal sliding mode surface for Permanent Magnet Synchronous Motors (PMSMs).
• Improvement of the deviation coupling structure to enhance inter-motor coupling for precise synchronization.
• Simulation-based validation of the proposed NFTSMC+IDCC method against traditional SMC, FTSMC, RCC, and DCC.

Main Results:

• The NFTSMC+IDCC method achieved a total multi-motor position synchronization error of 0.553r.
• Speed error was reduced by 2.873r compared to SMC and 1.772r compared to FTSMC.
• Anti-disturbance performance improved by 83.68% over SMC and 76.22% over FTSMC.
• The improved structure maintained low synchronization errors (0.56r-0.58r) across different speeds, outperforming RCC and DCC.

Conclusions:

• The proposed NFTSMC+IDCC method significantly improves multi-motor position synchronization performance.
• The control strategy offers reduced displacement errors and faster convergence after disturbances.
• This approach enhances overall control system performance and robustness.