Motor parameter settings.

In order to improve the position high-precision synchronization performance of multi-motor synchronous control, a multi-motor position synchronization control method based on non-singular fast terminal sliding mode control (NFTSMC) combined with an improved deviation coupling control structure (Improved Deviation Coupling Control(IDCC), NFTSMC+IDCC). Firstly, this paper designs a sliding mode controller using a non-singular fast terminal sliding mode surface with a Permanent Magnet Synchronous Motor (PMSM) as the control object. Secondly, the deviation coupling is improved to enhance the coupling between multiple motors and achieve position synchronization. Finally, the simulation results show that the total error of multi-motor position synchronization under NFTSMC control is 0.553r in the simulation of multi-motor synchronization control under the same working conditions, which is 2.873r and 1.772r less than that of SMC and FTSMC in terms of speed error, and the anti-disturbance performance is 83.68% and 76.22% higher than that of both of them, respectively. In the subsequent simulation of the improved multi-motor position synchronization structure, the total error of the multi-motor position is in the range of 0.56r-0.58r at three speeds, which is much smaller than the synchronization error under the Ring Coupling Control (RCC) structure and Deviation Coupling Control (DCC) structure, showing a better The synchronization error is much smaller than that of the RCC structure and DCC structure, which shows better position synchronization performance. Therefore, the multi-motor position synchronization control method proposed in this paper has a good position synchronization effect and achieves the control effect of small displacement error and fast convergence of the multi-motor position synchronization control system after being disturbed, the control performance is significantly improved.

为提升多电机同步控制的位置高精度同步性能，本文提出一种基于非奇异快速终端滑模控制（non-singular fast terminal sliding mode control, NFTSMC）结合改进型偏差耦合控制结构（Improved Deviation Coupling Control, IDCC）的多电机位置同步控制方法（NFTSMC+IDCC）。首先，本文以永磁同步电机（Permanent Magnet Synchronous Motor, PMSM）为控制对象，构建了基于非奇异快速终端滑模面的滑模控制器；其次，对偏差耦合结构进行改进，以强化多电机间的耦合程度，实现位置同步目标；最后，仿真结果表明：在相同工况下的多电机同步控制仿真中，采用NFTSMC控制时的多电机位置同步总误差为0.553r，相较于滑模控制（Sliding Mode Control, SMC）与快速终端滑模控制（Fast Terminal Sliding Mode Control, FTSMC），其同步总误差分别降低2.873r与1.772r，抗扰性能则分别较二者提升83.68%与76.22%。在后续改进型多电机位置同步结构的仿真实验中，三种转速下的多电机位置总误差介于0.56r~0.58r之间，远小于环形耦合控制（Ring Coupling Control, RCC）结构与偏差耦合控制（Deviation Coupling Control, DCC）结构下的同步误差，展现出更优异的位置同步性能。综上，本文提出的多电机位置同步控制方法具备优良的位置同步效果，多电机位置同步控制系统受扰后可实现位移误差小、收敛速度快的控制目标，控制性能得到显著提升。