Anti-Disturbance Cooperative Fuzzy Tracking Control of Multi-PMSMs Low-Speed Urban Rail Traction Systems

A directed-graph-based cooperative control scheme is proposed, to improve the synchronization performance and reduce its error under disturbance between multiple permanent magnet synchronous traction motors in low-speed urban rail transit. First, each motor is supposed to an agent of multi-agent system, and the information between multiple motors can be transmitted through communication topology network, which ensure the consistency of the response of each agent. Then, considering that the load torque of the motor is disturbed during operation, a finite-time disturbanceobserver is proposed to estimate the unknown load disturbance, thus guarantee the anti-disturbance ability of the system. Besides, the nonlinear parts of the dynamic model are approximated by fuzzy logic systems, and a second-order sliding mode differentiator is designed to avoid the direct derivation of virtual control law and the problem of differential explosion. Finally, the system is proved to be finite-time stable. The feasibility and effectiveness of the proposed control scheme are verified by the hardware-in-the-loop platform.