【摘要】 为解决城轨列车中多台永磁同步电机牵引系统的转速协同跟踪问题，提出一种基于有向图的协同控制策略。为确保每个电机的转速一致，将每台电机视为单独的智能体，利用有向拓扑结构进行多个电机之间的信息传输；使用新型扰动观测器估计负载扰动，进而增强系统的抗扰动能力；使用模糊逻辑系统逼近系统模型的非线性部分，以保障控制精度。理论分析结果表明，所提出的协同控制策略具有有限时间稳定性；仿真实验结果表明，所设计的控制方案性能良好。更多还原

【Abstract】 A cooperative control strategy is proposed based on directed graphs to solve the problem of speed cooperative tracking of multiple permanent magnet synchronous motor traction systems in urban rail transit. Each motor is regarded as an agent, and the information between multiple motors can be transmitted through a directed topology structure to ensure the speed of each motor is consistent. Then, a novel disturbance observer is utilized in order to estimate the load disturbances, thus the system’s ability to resist disturbances can be enhanced. Meanwhile, a fuzzy logic system is used to approximate the nonlinear part of the system to ensure the control accuracy. The result of theoretical analysis shows that the proposed cooperative control strategy has finite-time stability, and the simulation result shows that the designed control scheme has an excellent performance.更多还原