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

A finite-time disturbance-observer (DO)-based fuzzy sliding mode cooperative backstepping (FDFSM-CB) 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 (URT). First, each motor is supposed to an agent of multi-agent system (MAS), and the information between multiple motors can be transmitted through a communication topology network, which ensures the consistency of the response of each agent. Then, considering that the load torque of the motor is disturbed during operation, a finite-time DO is proposed to estimate the unknown load disturbance, thus guaranteeing the anti-disturbance ability of the system. Besides, the nonlinear parts of the dynamic model are approximated by fuzzy logic systems (FLSs), 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 (HIL) platform.