Fuzzy Sliding Mode Adaptive Backstepping Control of Multiple Motors Winding System Based on Disturbance Observer

This paper studies multi-motor winding system with strong coupling and easily affected by parameters perturbation and load disturbance. First, a fuzzy non-singular fast terminal sliding mode controller and a fuzzy adaptive sliding mode controller are designed to control the speed loop and tension loop of the system respectively, which achieves system dynamic decoupling between speed and tension. Then, an adaptive backstepping controller is designed for the current loop of the system so that the parameters perturbation can be estimated by the adaptive law, which is applied to the feed-forward compensation. At the same time, a disturbance observer is used to estimate the total torque of the motor that includes load disturbance and tension torque. Finally, the simulation and some experimental results demonstrate the superiority of the proposed control algorithm.