Cascade Model Predictive Control for Multi-Motor Relative Coupling Synchronous System

The multi-motor control system is widely used in underwater observation robots due to its reliable stability. In order to get better control effect, this paper proposes a speed synchronization control method based on cascade predictive control by combining the model predictive control (MPC) and the relative coupling control architecture. First, the speed-current cascade predictive controller is designed based on the finite control set model predictive control (FCS-MPC). Then the synchronization error compensator and the extended state observer (ESO) are designed to compensate the current loop by considering the speed error and external load changes as disturbance variables. The simulation results verify that under the proposed control approach, the overshoot of the multi-motor system is small, while the anti-disturbance capability and synchronization performance are boosted.