Distributed Coordinated Motion Tracking of the Linear Switched Reluctance Machine-Based Group Control System

The coordinated tracking control for the group motion control system based on three direct-drive double-sided linear switched reluctance motors (LSRMs) is investigated in this paper. The system construction for the proposed coordinated tracking system is elaborated, including the unit system and group system design, communication configuration among unit systems, and stability and performance analysis of the group system. The coordinated control performance is concentrated on three identical LSRMs with different communication topologies. Experimental results demonstrate that necessary bidirectional interactions between the unit systems contribute to the coordination performance. The maximum dynamic tracking error within ±0.4 mm can be achieved under the sinusoidal reference of 30-mm amplitude and 0.2-Hz frequency.