Cooperative Control of Multiple Motor Movers Based on Model Predictive Control

Permanent magnet synchronous linear motor (PMSLM) is widely used in modern logistics and manufacturing owing to their long-travel capability and the potential of multi-mover operation on a shared track to reduce cost and improve efficiency. However, in the absence of effective cooperative control, safe inter-mover spacing cannot be guaranteed, making collisions likely. To address this challenge, this article proposes a cooperative control algorithm for multi-motor movers based on model predictive control (MPC), aiming to achieve precise spacing maintenance during high-speed motion. We begin by modeling an individual mover in the PMSLMs system and detailing its speed control strategy. Building upon the above, we construct a longitudinal motion model for multi-motor movers adopting a predecessor-following (PF) topology. Finally, we propose an improved variable time headway (IVTH) strategy and use it to design the MPC-based cooperative control algorithm. Experimental results demonstrate that the proposed algorithm achieves high-precision tracking control of spacing and velocity. Notably, even under sudden conditions such as emergency braking, the system can respond rapidly and maintain safe spacing. This research provides a feasible solution for achieving low-cost, high-efficiency cooperative control of multi-motor movers in long-travel transportation systems.