基于事件触发的多电机系统一致性控制OACSTPCD

Aiming at the problem that the hysteresis of error transfer becomes more serious with the increase of the number of motors in the traditional ring coupling control strategy,a consensus control strategy of multi-motor system based on event-triggered is proposed.The speed compensation of each motor in the multi-motor system is obtained by consensus algorithm to ensure the consistency of each motor speed and improve the tracking performance of the system.When the system reaches the steady state,the event-triggered mechanism is used to reduce unnecessary communication times and save communication resources.In addition,the ring coupling structure can ensure the synchronization performance of the system within the event-triggered threshold,and the event-triggered threshold decreases with time.Simulation results show that compared with traditional ring coupling control strategy,the proposed strategy of motor system has better synchronization performance and tracking performance,and along with the increase of the number of motor,the error transfer delay problem is improved.At the same time,the event-triggered control effectively reduce steady-state process unnecessary communication.