Energy-Efficiency-Aware Fixed-Time Consensus Control for Distributed PMSM Systems

This paper proposes an innovative Energy-Efficiency-Aware Fixed-Time (EEAFT) control strategy for distributed permanent-magnet synchronous motor systems. The primary contribution is achieving rapid, precise speed consensus while effectively balancing energy consumption against consensus error, a challenge often overlooked in fixed-time (FxT) control designs. A key novelty lies in the introduction of a real-time reward mechanism, uniquely derived from low-pass filtering both the system's consensus error and the control input signals. This adaptive reward function dynamically adjusts the upper bound on convergence time. When the convergence time becomes excessively stringent, a substantial increase in control effort is required. This can lead to energy spikes and hardware overload. To mitigate these risks, the bound on convergence time is then relaxed. Conversely, when large consensus errors necessitate an accelerated response, the bound on convergence time is tightened to expedite error correction. To enhance robustness against unmodeled friction, winding losses, and external disturbances, a fuzzy logic system is employed to approximate unknown nonlinear dynamics, while a disturbance observer compensates for residual errors. Rigorous theoretical analysis confirms the boundedness of all system signals and guarantees FxT convergence under the proposed EEAFT framework. Extensive experimental results demonstrate the effectiveness and superiority of the EEAFT-based controller, showcasing high-precision speed synchronization across multiple motors and achieving an improved trade-off between rapid transient response and overall energy efficiency.