Synchronous Control of H-type Linear Motor System via Super-Twisting Sliding Mode

In this paper, a synchronous control strategy based on super-twisting sliding mode algorithm is proposed to enhance the tracking accuracy and robustness of H-type linear motor systems. Such systems are widely utilized in precision manufacturing owing to their high precision and fast response. Firstly, the dynamic model is established based on the coupling dynamics analysis of the H-type system. Secondly, a supertwisting sliding mode controller (STSMC) with linear terms is designed, which effectively reduces the chattering associated with conventional sliding mode control, while maintaining good robustness. Thirdly, a super-twisting extended state observer (STESO) is introduced to handle large fluctuations in the early estimation process of linear extended state observer (LESO), so as to effectively observe and compensate the uncertainties and external disturbances. Finally, experimental results demonstrate that the STESO-based STSMC greatly improves the anti-disturbance ability and tracking accuracy of the H-type system.