Due to the nonlinear saturation and high thrust force ripples in linear vernier permanent-magnet motor drive, an improved direct thrust force control strategy based on the anti-windup PI controller and duty ratio modulation is proposed. The variable-structure is adopted in the proposed controller, which can make the system quickly exit saturation zone. Duty ratio modulation with a constant switching frequency is adopted based on the analysis of effects that voltage vector has on thrust force ripples in the control strategy. The simulation and experimental results show that the proposed improved direct thrust force control system can effectively reduce the systemic overshoot and thrust ripples, thus improving the stability and robustness of the control system.