Total-Amount Coordinated Finite-Time Control of Multi-Motors With Saturation Constraints

For the multi-motor traction finite-time control (FTC) system with input saturation constraints, considering parameter simplification of “adding a power integrator” (AAPI) and anti-windup (AW), a total-amount coordinated tracking control (TACTC) strategy based on nonsingular terminal sliding mode (NTSM) is proposed to ensure the global finite-time stability and effectively reduce energy consumption. First, a traction model of multiple permanent magnet synchronous motors (PMSMs) with uncertain parameter perturbations and external disturbances was established. Next, a finite-time auxiliary AW system was designed and the auxiliary state was fed back to TACTC. Then, the strong constraint of parameters of AAPI was relaxed, the setting rules of the corresponding parameters were given and the proof of finite-time Lyapunov stability was completed. Finally, the excellent performance of parameter simplification of AAPI and the controller was verified by the Matlab/Simuink simulation and RT-Lab semi-physical experiment of the multi-motor traction system, which shows that the control strategy can suppress the input saturation effect in the multi-motor traction system effectively.