Research on Disturbance Rejection Synchronous Control of Dual Permanent Magnet Synchronous Motors Based on Prescribed Performance Cross-coupling

doi:10.3901/JME.260262

Abstract

Abstract: For the synchronous motion control problem of dual permanent magnet synchronous motors (PMSM), a novel control scheme combining prescribed performance cross-coupling and novel reaching law sliding mode control is proposed. Firstly, a mathematical model incorporating parameter variations and load disturbances is constructed. Under the cross-coupling control framework, synchronous error is defined. Prescribed performance control is employed to ensure that the synchronous error converges to prescribed boundaries, with the minimum convergence rate satisfying prescribed requirements, thereby guaranteeing both steady-state and transient performance. Secondly, a new sliding mode reaching law is designed to enhance speed tracking performance. An exponential function and a power function with the absolute value of the sliding mode surface as the variable are added to the reaching law. This realizes the adaptive adjustment of the nonlinear gain, enhances the adaptability of the reaching rate, and shortens the reaching time. Additionally, a sigmoid function replaces the traditional switching function to suppress high-frequency chattering. Furthermore, an adaptive extended state observer is developed to estimate the lumped disturbances of the motors in real time, eliminating the conservatism caused by relying on disturbance upper bounds in control design. The estimated disturbances are incorporated into the reaching law to strengthen the system’s disturbance rejection capability. Experimental results demonstrate that the proposed strategy effectively ensures the synchronous error converge within prescribed performance boundaries under various operating conditions. It exhibits strong robustness against parameter variations and load disturbances, significantly improving the stability and control precision of dual PMSM systems.

Key words: permanent magnet synchronous motor, cross-coupling control, prescribed performance control, sliding mode control, extended state observer, synchronous control

CLC Number:

TP273
TM351

LÜ Gangqiang, YUAN Hao, LI Mingying, GAO Zekun, WANG Huihui, LIU Yang, ZHANG Xu. Research on Disturbance Rejection Synchronous Control of Dual Permanent Magnet Synchronous Motors Based on Prescribed Performance Cross-coupling[J]. Journal of Mechanical Engineering, 2026, 62(15): 438-449.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260262

http://www.cjmenet.com.cn/EN/Y2026/V62/I15/438

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