Hierarchical collaborative control strategy of linear switched reluctance machines based lifting platform

A hierarchical synchronization control strategy is proposed for the multiple linear switched reluctance motors of lifting platform. The strategy adopts two module of high and low level, in which high-level synchronization coordination module coordinates the asynchronous reference input of each node while low-level tracking module is used to ensure the tracking performance between the motors. Experimental results indicate the control strategy makes the error of reference input of each motor go down continuously. Under the condition of strong asynchronous reference input disturbance, the dynamic error value between the motors can be controlled within ± 1.5mm, which shows that this strategy can improve the position control accuracy as well as fault-tolerant ability, and weaken the distributed system reference input between the asynchronous effectively.