永磁直线同步电机(PMLSM)因其具有高速、高动态响应等优点而备受关注。而参数变化、端部效应和摩擦力等不确定因素将会降低直线电机控制系统应有的性能。为提高系统的鲁棒性，提出了一种插入式积分滑模控制。该滑模控制将原有控制器的输出量加入到所设计的滑模面中，使得控制系统在不改变原有控制器结构和性能的情况下，获得较强鲁棒性。同时，以连续的超螺旋控制来替换积分滑模控制中原有的不连续部分，削弱了滑模固有的抖振。搭建的Matlab/Smulink仿真后结果证实了所提方法的有效性。

Permanent magnet linear synchronous motor (PMLSM) has attracted much attention because of its high speed and high dynamic response. The uncertain factors such as parameter change, end effect and friction force will reduce the performance of linear motor control system. In order to improve the robustness of the system, an insertion type integral sliding mode control is proposed. The output of the original controller is added to the designed sliding surface in the sliding mode control, which makes the control system obtain strong robustness without changing the structure and performance of the original controller. At the same time, the continuous super spiral control is used to replace the original discontinuous part in the integral sliding mode control, which weakens the chattering inherent in the sliding mode. The simulation results of MATLAB / Simulink verify the effectiveness of the proposed method.