Multi-motor speed synchronization control system based on improved ADRC

In order to improve the synchronous performance and anti-interference ability of the speed synchronous control system of four permanent magnet synchronous motors (PMSM) in the independent drive electric vehicle, and to improve the dynamic response and stability of the motor, the improved sliding mode control is applied. In order to reduce the following error of the motor and improve the robustness of the control system, an improved nonlinear function is proposed. Based on this function, the traditional active disturbance rejection controller (ADRC) is improved, and the PMSM improved first-order ADRC speed loop controller is designed. Four PMSM synchronous control system models based on deviation coupling are established, and the simulation results show tha tthe PMSM under ADRC control has a faster motor response with less overshoot and better anti-disturbance.