부산대학교 도서관

For the synchronous control of multi-mover permanent magnet linear synchronous motors (PMLSM) which is widely used in logistics equipment, a control method for the synchronization of multi-mover is developed by combining sliding mode control and ring coupling control strategy. Define the speed error of the two movers as the synchronization error, and introduce it into the control system of the previous mover, to improve the synchronization accuracy between the movers. Moreover, the stability of the control system is proved by the Lyapunov stable theory. The experimental results of the four-mover synchronous control system show that the proposed method can enhance the speed tracking and synchronization error of the platform effectively.