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For 6/4 linear-rotary switched reluctance motors (LRSRMs), the magnetic-flux paths of the two windings are coupled in the radial direction, thus it is difficult to design the two-winding current algorithm for the linear and rotary control simultaneously. To solve this problem and achieve linear motion and rotation at the same time, speed and axial position control method is proposed by employing the equal magnetomotive force of two windings to calculate the given currents. This control method has the advantages of simple principle, easy implementation and can realize the coordinated control of rotation and linear motion. In addition, the mathematical model of LRSRM is established to facilitate the design of current algorithm. Simulation and various experiments are completed to verify the demonstrated performance of the proposed control method.