Reference model sliding model velocity control for linear elevator using permanent magnet linear synchronous motor

In order to improve the tracking and robust performances of a linear elevator driving by permanent magnet linear synchronous motor (PMLSM), a new linear motor speed loop control solution is presented, in which Coulomb friction model is used as the main compensation method and reference model sliding model control as the assistant control method. The simulation results show that linear motor speed loop based on reference model sliding model control can not only overcome the effect of nonlinear friction and time-varying load, but also can weaken the chattering caused by sliding model control.