永磁同步直线电机(PMSLM)直接驱动负载运动，电机性能易受内外界扰动影响，使电机控制性能变差。滑模控制(SMC)是一种不连续性控制，具有良好的鲁棒性能，但传统滑模本身存在抖振问题。针对这一问题，设计了一种改进的SMC，在指数趋近律的基础上引入状态变量的变指数积分幂次项、幂次趋近律和饱和函数，实现PMSLM位置SMC，有效地减小了滑模引起的抖振问题。采用扩张状态观测器(ESO)实时观测负载扰动，通过调整控制量来减小滑模变结构中的趋近律参数，达到改善电机控制性能的目的。

Permanent magnet synchronous linear motor (PMSLM) drives the load directly, and the motor performance is easily affected by internal and external disturbances, which makes the control performance poor. Sliding mode control (SMC) is a kind of discontinuous control with good robustness, but the chattering problem exists in traditional sliding mode. Aiming at this problem, an improved SMC is designed. Based on the exponential reaching law, the variable exponential integral power term, the power reaching law and the saturation function of state variables are introduced to realize the position SMC of PMSLM, and the chattering caused by the sliding mode is effectively reduced. The extended state observer (ESO) is used to observe the external load disturbance in real time, and the reaching law parameter in the sliding mode variable structure is reduced by adjusting the control quantity, so as to improve the control performance of the motor.