A cross coupling control strategy based on second-order global fast terminal sliding mode control(2-GFTSMC) is proposed in this paper aiming to improve the synchronization accuracy of dual-motor under external load and disturbance. Firstly, the global fast terminal sliding mode controller is designed to improve the starting performance and dynamic performance of single motor and eliminate chattering phenomenon. Secondly, in order to improve the synchronization accuracy, enhance the stability of the dual-motor system and shorten the response time, a second-order global fast terminal sliding mode controller is designed by combining the global fast terminal sliding mode control with the cross-coupling control strategy. Finally, an experimental platform of dual-motor synchronous control is built, and the effectiveness of the proposed synchronization control strategy is verified by experiments.

This paper proposed control schemes to realize the collaborative control as well as enhance the control precision for the distributed driving electric vehicle (DDEV). Firstly, we suggested an electronic line-shafting (ELS) to realize the cooperative control for the Multi-Motor system which is installed in the DDEV. Secondly, we adopted a nonsingular terminal sliding mode control (NTSMC) method combined with a sliding mode observer (SMO) to quicken the response velocity and strengthen the robustness of the single motor controller. Finally, for the chattering value caused by the internal parameter variation and external disturbance, a fuzzy algorithm is proposed to obtain the controller parameters of NTSMC in real-time to eliminate the chattering value of DDEV. Through several simulations and experiments, the results demonstrate that the proposed strategies can realize ideal collaborative control for the Multi-Motor system, as well as improve the dynamic performance and anti-jamming ability for the whole control system of DDEV.

In view of the shortcomings of the existing multimotor synchronous control strategy, a new method of mean deviation coupling control for multimotor system via global fast terminal sliding mode control is proposed. Firstly, the mathematical model of permanent magnet synchronous motor (PMSM) under a $d$ - $q$ reference frame is established. Next, based on the deviation coupling control, the deviation is calculated by the average speed, and the structure of the deviation coupling control strategy is optimized. The speed controller of the multimotor system is designed based on the global fast terminal sliding mode control (GFTSMC) algorithm to improve the synchronization accuracy of the system. In addition, a load torque Luenberger observer is designed to observe the load in real time. Then, the stability analysis of the controller is carried out by using the Lyapunov function. Finally, a four-motor experimental platform is built to verify the effectiveness of the proposed control strategy.