The multi-mover permanent magnet linear synchronous motor (MM-PMLSM) that drives flexible production lines often operates in variable speed or load modes

and it requires multiple movers to obey collaborative motion orders accurately. Suppose the influence of dynamic operating modes is ignored in the design of collaborative controllers. In that case

the speed tracking and synchronization error control signals are superimposed indiscriminately and fed into the current loop. Further

the unclear control subject will inevitably affect the effectiveness of speed collaborative control. Based on this

this paper proposes a basic scheme using a dual-speed controller. The tracking controller and synchronization controller of each mover are designed in parallel. And then the weight factor

considering operating modes

is introduced into the synchronization controller. Based on the amplitude and change rate of the synchronous compensation signal

the weight factor is automatically updated by using a fuzzy adaptive regulator. Real-time operating conditions adjusted the ratio of tracking and synchronous control components. So an accurate speed error control model is established. The main research work is as follows: First

based on a mathematical model of MM-PMLSM

the parallel design details of speed tracking and synchronization controller are discussed. Simultaneously

the mechanism of the weight factor is presented. Then

the characteristics of synchronous compensation signals in different operating modes are analyzed. Meanwhile

the automatic updating method of weight factors is studied based on fuzzy adaptive. Finally

system dynamic simulation and experiment platforms are carried out to compare and verify the effectiveness of the proposed control strategy.