Design of Non-smooth Synchronous Control Method for Stage Lifting Machinery

In order to realize the synchronous operation of the stage elevators, a multi-motor synchronous control scheme based on the combination of non-smooth control and state observer is proposed. For the difference among the parameters of the motor systems, and the other factors such as parameters' perturbation and outside interference, the stage elevators may not synchronize. Therefore, in order to solve the problem of the stage elevators' performance, a kind of non-smooth control method is proposed, which the multi-motor synchronization could be achieved in a finite time. At the same time, in order to monitor the acceleration, which is difficult to monitor, a state observer is developed to estimate the acceleration of the motor. Finally, the simulation results of the non-smooth control strategy and the traditional PI control strategy have been comparative analysis. And the results show that the non-smooth control strategy has stronger robustness.