Integrated Control of Linear Motors for Coordination and Synchronization

Linear motors are core driving components for many transportation applications. The tracking accuracy and synchronization are related to the safety and efficiency of traffic. To guarantee high-performance tracking in high-speed and high-acceleration motion, this article presents a novel improved integrated scheme, simultaneously solving coordination and synchronization problems of linear motors. Besides, the integrated strategy can mitigate the adverse effects of system uncertainties and external nonlinear disturbances, while ensuring a slightly lower complexity of the control structure. To comprehensively verify the effectiveness of the proposed scheme, it has been experimentally tested in circular and elliptical experiments, and compared with multiple control schemes. Experimental results demonstrate the improvement achieved by the established integrated strategy in under complex, high-speed, and high-acceleration conditions, subject to unknown parameters and nonlinear disturbances. Especially in large curvature scenarios, the proposed controller exhibits excellent tracking performance, synchronization performance, and robustness.