Research on Coordinated Control of Multi-PMSLM Based on Sliding Mode Variable Structure Deviation Coupling Algorithm

In order to improve the performance of the multi-permanent magnet synchronous linear motors collaborative position control system, the sliding mode variable structure deviation coupling algorithm (SMVSDCA) is proposed in this paper. The proposed control strategy can make the coordination precision close to zero while stabilizing the tracking accuracy of a single motor. Moreover, considering the problem of chattering of the traditional sliding mode control, an improved approaching law is applied to instead of the symbol function. The validity of the proposed approach law is proved by theoretical analysis. In order to improve the precision of multi-motors cooperative control, a deviation coupling control strategy is adopted. Finally, the collaborative control performance of the proposed algorithm under different communication topologies is analyzed experimentally.