Virtual Leader-Guided Cooperative Control of Dual Permanent Magnet Synchronous Motors

A hierarchical cooperative control strategy guided by a virtual leader is proposed to enhance the speed regulation and robustness of dual permanent magnet synchronous motor (PMSM) systems. The upper layer employs a virtual leader with model predictive speed control (MPSC) to achieve coordinated tracking, while the lower layer utilizes model predictive current control (MPCC) for regulation. A theoretical complexity analysis demonstrates that this decoupled architecture reduces the computational burden by approximately 75% compared to centralized MPC. Furthermore, a load disturbance observer is designed to estimate and compensate for external torques. Simulation and experimental results, covering both forward and reverse rotations, validate the effectiveness of the proposed strategy. Comparative results show that, compared with a conventional PI controller, the proposed method reduces speed overshoot by approximately 20% under sudden load changes, exhibiting superior steady-state performance and strong robustness against load variations.