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The synchronization accuracy of a multi-motor speed synchronization system is influenced by the motor control algorithm and synchronization control strategy. In response to the shortcomings of existing control strategies，a mid-range deviation coupling control strategy for multi-motor speed synchronization systems was proposed. Firstly，a mathematical model of multi permanent magnet synchronous motor was established. On the basis of the deviation coupling control strategy，the motor speed deviation was calculated using mid-range speed，and the structure of the deviation coupling control was optimized. The controller was designed using a nonsingular Terminal sliding mode control algorithm. Then，the Lyapunov stability theory was used to analyze the stability of the designed controller. Finally，a multi-motor synchronous control test platform was established for test verification，and the test data was analyzed. The results show that the proposed control strategy is effective and can improve the synchronization performance of the system.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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