Robust Synchronization Control of Multi-IPMSM System Based on Synergetic Control Theory and Nonlinear Disturbance Observer

To enhance synchronization and anti-disturbance performance of multiple interior permanent magnet synchronous motors (IPMSMs), this paper introduces a control strategy combining the nonlinear disturbance observer (NDO) and synergetic control theory (SCT). First, a multi-IPMSM model is developed considering parameter variations and load disturbances. Then, in the field-oriented control (FOC) framework, the SCT is combined with the maximum torque per ampere (MTPA) technique to reduce synchronization error. Simultaneously, the NDO estimates all disturbances for each IPMSM, thereby improving the anti-disturbance performance of the system. Finally, the hardware-in-the-loop (HIL) results validate that the proposed method achieves high synchronization accuracy and robustness against load and parameter variations.