针对高精度直接驱动的永磁直线同步电动机伺服系统，研究其负载扰动、系统参数变化及端部效应等不确定性因素对系统伺服性能的影响，提出一种将扰动观测器(disturbance observer，DOB)和重复控制器(repetitive controller，RC)相结合的的鲁棒控制策略。基于DOB的鲁棒反馈控制器补偿了外部扰动、负载扰动、未建模动态、系统参数变化及不确定性等，保证了系统的速度鲁棒性能，但是DOB无法彻底抑制端部效应这种周期性扰动对速度品质的影响，为此，采用根据内模原理设计专门抑制周期性扰动作用的RC来消除端部效应对系统的不良影响。理论分析和仿真实验结果表明所提出的控制方案是有效的，采用该方案可明显提高系统的鲁棒性能。

For the high precision direct drive permanent magnet linear synchronous motor (PMLSM) servo system, the influences to the servo performance were analyzed, including the load disturbances, parameters changes of the system, end- effect and uncertain factors. A robust repetitive control strategy based on combining the disturbance observer (DOB) and repetitive controller (RC) was proposed. The robust feedback controller based on DOB can overcome the influences of the uncertainties, such as external disturbance, load disturbance, un-modeled dynamics and the parameters perturbation and so on. It can ensure the robust performance of the system. But the influences to velocity quality for periodic disturbance generated by specially existing end effect of PMLSM cannot be entirely restrained by DOB. For it, according to inner model theory, repetitive controller was designed to entirely eliminate the influence of the periodic disturbance. The theory analysis and simulation experiment results show that the control scheme is effective, and the robust performance is improved greatly.

辽宁省博士科研启动基金资助项目(20091056)。