Permanent Magnet Linear Synchronous Motor (P MLSM was hard to control with traditional control strategy for parameters variation and external load disturbance, a global robust terminal sliding mode control (GRTSMC) was designed for PMLSM servo system, the sliding mode surface function was designed, the robust sliding mode control law was deduced and the stability was proved by Lyapunov theory. With the mathematical models of PMLSM, the simulation was taken with traditional PID control, SMC control and GRTSMC control proposed in this paper, the robust performance be found with GRTSMC control when motor parameters and external load changed, the efficiency and advantages of this robust control strategy was successfully demonstrated.

It proposes an interactive logistics warehousing system solution based on virtual reality technology by the actual logistics warehousing system. The system, employing the improved MVC framework of software design patterns, builds virtual environment model and logistics warehousing 3D model by 3dmax and Pro/E, meantime, achieves Warehousing and outbound operation in inventory management by using SQL database technology. In addition，it overcomes some interactive insufficiency on the VRML through Java3D, and solve some key problems. Therefore, it has a certain practical value and broad application prospect.