随着工业自动化技术的飞速发展，多电机同步控制技术因其在医疗设备、工业生产线、智能制造等领域的广泛应用而备受瞩目。作为一个结构复杂、多层次的系统，多电机同步控制面临着诸多挑战，尤其是单电机与多电机同步性能的提升受到控制策略的限制，这些限制主要体现在系统鲁棒性与抗干扰能力的不足。同时，控制算法的不断迭代升级对硬件平台的计算实时性提出了更高的要求，这些因素综合影响了系统的整体性能。 本研究旨在针对上述问题，从算法和硬件两个角度出发，提出了创新性解决方案。算法方面，引入高阶超扭曲滑模与干扰观测器的复合策略，有效抑制了单电机控制中的抖振，提升了瞬态响应和稳定性，瞬态响应时间0.09 s，稳态转速峰-峰值低至0.82 转/分钟。在四电机系统中，采用滑模速度补偿器替代了传统的固定增益速度补偿器，有效提升了系统在外部干扰下的同步性能，对比传统滑模速度补偿器转速差降低了27.52%。此外，结合蜣螂优化算法优化控制参数，使速度响应的时间加权绝对误差积分降低了77.37%，通过SIMULINK与硬件在环仿真，对所提出算法的有效性进行了验证。 在硬件设计方面，本文提出了一种基于FPGA的高速永磁同步电机驱动控制算法实现方案，选用Zynq-7020作为硬件实现平台。本方案充分发挥了FPGA在处理速度和任务并行执行方面的显著优势。为了实现对滑模控制算法和电机矢量控制算法的高效处理，本文采取了模块化设计的方法，将这些算法分解为若干可管理和高效执行的单元，详细阐述了滑模控制算法和电机矢量控制算法在FPGA上的实现流程。通过与传统STM32控制器的性能对比，FPGA的高并行性使得控制算法实现了更高的频率和更低的延迟，算法执行时间缩短为1.46 μs，证明了本方案在算法运算速度及速度控制方面的优越性。 此外，为增强系统的灵活性与可扩展性，本文将RISC-V开源处理器核部署至FPGA平台，并基于MATLAB开发了上位机交互界面。通过定义FPGA与上位机的通信策略，构建了一个完整的多电机同步伺服控制系统平台。该平台包括FPGA控制器、逆变器、永磁同步电机和上位机交互界面等，还能够执行运行状态监控、控制指令下发和数据采集等关键功能，提高了系统的应用价值与实用性。

With the rapid development of industrial automation technology, multi-motor synchronous control technology has attracted much attention due to its wide application in medical equipment, industrial production lines, intelligent manufacturing, and other fields. As a complex and multi-layered system, multi-motor synchronous control faces many challenges, especially the enhancement of single-motor and multi-motor synchronous performance is limited by control strategies, which are mainly reflected in the lack of system robustness and anti-interference ability. At the same time, the continuous evolution and complexity of control algorithms pose higher requirements for the real-time computing capabilities of hardware platforms, these factors collectively affect the overall performance of the system. This study aims to address the aforementioned problems from both algorithmic and hardware perspectives by proposing innovative solutions for multi-motor synchronous control systems. Algorithmically, a composite strategy of high-order super-twisting sliding mode and disturbance observer was introduced, effectively suppressing the jitters in single-motor control, enhancing transient response and stability, with a transient response time of 0.09 s and a steady-state speed peak-to-peak value as low as 0.82 revolutions per minute. In a four-motor system, a sliding mode velocity compensator replaced the traditional fixed-gain velocity compensator, thereby effectively enhancing the system's synchronism performance under external disturbances, with a speed difference reduced by 27.52% compared to traditional sliding mode velocity compensators. Additionally, by integrating the dung beetle optimization algorithm to optimize control parameters, the time-weighted absolute error integral of velocity response was reduced by 77.37%, verified through SIMULINK and Hardware-in-the-Loop simulation, proving the effectiveness of the algorithm. In terms of hardware design, this thesis presents a high-speed permanent magnet synchronous motor drive control algorithm implementation scheme based on FPGA, with Zynq-7020 chosen as the hardware implementation platform. This scheme fully leverages the significant advantages of FPGA in processing speed and task parallel execution. To enhance the processing efficiency of sliding mode control and motor vector control algorithms, a segmented design strategy was employed. This strategy involves breaking down these algorithms into several smaller, more manageable modules for more efficient execution. Additionally, the implementation steps for both sliding mode control and motor vector control algorithms on FPGA were elaborately outlined, ensuring clarity and ease of understanding in their application. Compared with traditional STM32 controllers, the high parallel performance of FPGA allows the control algorithms to run at higher frequencies and lower latencies, with the algorithm execution time shortened to 1.46 μs, proving the superiority of this scheme in algorithm computation speed and velocity control. Furthermore, to enhance the system's flexibility and scalability, this thesis integrates the RISC-V open-source processor core into the FPGA platform and develops an upper computer interaction interface based on MATLAB. By defining the communication strategy between FPGA and the upper computer, a comprehensive multi-motor synchronous servo control system platform was constructed. This platform includes an FPGA controller, inverter, permanent magnet synchronous motor, and upper computer interaction interface, capable of performing key functions such as operating state monitoring, control command issuance, and data collection, greatly enhancing the system's application value and practicality.