速度同步性能和抗干扰性是影响双永磁同步电机（dual-PMSM）同步运行动态响应和稳态精度的重要因素。通过引入交叉耦合控制作为模型，提出了一种基于改进双功率趋近律的积分滑模速度跟踪控制器，以减小两台电机之间的速度误差。设计了负载转矩观测器，将观测值引入滑模控制（SMC）趋近律，以提高系统的抗干扰性能。同时，采用模糊比例积分微分（FPID）控制设计了同步控制器，以提高双永磁同步电机的同步性。验证结果表明，当目标转速为800 r/min时，与传统的PI算法相比，所提出的控制方法可以在空载启动时将两台电机的速度同步误差从25 r/min降低到12 r/min，在负载突然转矩下将速度同步误差由7 r/min降低至2.2 r/min，从而提高了同步性和抗干扰性。

Speed synchronization performance and anti-interference are important factors that affect the synchronous operation dynamic response and steady-state accuracy of dual Permanent Magnet Synchronous Motors’ (Dual-PMSMs). By introducing cross-coupling control as the framework, an integral sliding mode speed tracking controller based on an improved bi-power reaching method is proposed to reduce the speed error between two motors. A load torque observer is designed to bring the observed value into the Sliding Mode Control (SMC) reaching method that enhances the anti-disturbance performance of the system. Meanwhile, a synchronous controller is designed using a Fuzzy-Proportional-Integral-Derivative (FPID) control to improve the synchronization of the Dual-PMSMs. The results show that compared with the traditional PI algorithm as the target speed is 800 r/min, the proposed control method can decrease the two motors’ speed synchronization error from 25 r/min to 12 r/min under a no-load startup and reduce the speed synchronization error from 7 r/min to 2.2 r/min with sudden load torque, improving the synchronization and disturbance rejection.