Adaptive PI nonlinear cooperative control for motor cluster

To address the effects of nonlinearities and uncertainties in the speed regulation of permanent magnet synchronous motors (PMSMs), an adaptive PI nonlinear control strategy is introduced. First, a nonlinear system model is developed using the PMSM mathematical model, and an adaptive PI nonlinear control approach is designed. Numerical simulations are conducted to demonstrate that this control method effectively tracks the system's desired values. Then, through a group of comparative simulation experiments, the comparison effect of the designed adaptive PI nonlinear control method and the traditional PI control method is analyzed and compared. Additionally, four PMSM collaborative control system models, including the speed tracking and speed synchronization control structures, are constructed. Finally, a simulation model for a cooperative PMSM control system is developed to evaluate the system's speed tracking capability and the synchronization between multiple motors. The results show that in the designed motor cluster cooperative control system, the PMSM motor cluster using adaptive PI nonlinear control method can achieve cooperative control in speed tracking and speed synchronization, and can maintain stable operation against nonlinear problems and unknown disturbances.