Focusing on the problems of strong coupling,low tension control precision and susceptibility to disturbance in multi-motor winding system,a switching sliding mode control method based on non-linear disturbance observer and tension observer was proposed.The permanent magnet synchronous motor was used as the driving mechanism of the system,a non-singular fast terminal sliding mode controller was designed to control the motor speed,and a non-linear disturbance observer was designed to estimate the parameters perturbation of the system,which was used for the feedforward compensation.For the tension loop of the system,an adaptive sliding mode controller with switching function was adopted,and the switching function could make the system state reach the sliding mode surface faster.A tension observer was designed to accurately observe the tension value.The simulation results show that compared with the traditional control strategy,using the proposed control strategy improves the response speed,tracking accuracy and robustness of the system.