直线伺服系统的鲁棒二次最优控制

针对永磁直线同步伺服电机(PMLSM)直接驱动伺服系统存在的负载扰动等不确定性因素的影响，根据鲁棒二次最优控制理论来设计速度状态反馈控制器，在保持传统控制结构不变的同时，解决了直线电机伺服系统的鲁棒性问题，能够克服系统中存在的不确定性与外部干扰对系统性能的影响，实现对系统速度的跟踪控制.仿真结果表明，该方案在保证伺服系统的快速性、精确跟踪性的同时，对系统参数变化和阻力扰动具有很强的鲁棒性.

Robust linear quadric optimal controller for permanent magnet linear synchronous motor servo system

For the influences of the uncertainties such as load disturbance in permanent magnet linear synchronous motor(PMLSM) direct servo system,a robust linear quadric(LQ) optimal control method was adopted,and a state feedback regulator was designed on the basis of closed velocity loop.The proposed scheme maintains the traditional control structure while keeping the robust character,and implements velocity tracking,which is realized by handling the system uncertainties from internal parts and the disturbances from the outside.The simulation results indicate that the LQ method has assured the swiftness,precision tracking to velocity,and strong robustness to system parameter variation and disturbances.