基于ZPETC和DOB的永磁直线同步电机的鲁棒跟踪控制

针对高精度永磁直线同步电机直接驱动伺服系统，提出了一种将零相位误差跟踪控制器(ZPETC)和干扰观测器(DOB)相结合的鲁棒跟踪控制策略，以提高系统的跟踪性能和鲁棒性能。ZPETC作为前馈跟踪控制器，保证了快速性，使系统实现准确跟踪；基于DOB的鲁棒反馈控制器补偿了外部扰动、未建模动态、系统参数变化和机械非线性等，保证了系统的强鲁棒性。仿真结果表明，所提出的控制方案在保证系统实现完好跟踪的同时，又具有较强的鲁棒性，从而改善了数控机床进给系统的定位精度，进而提高了轮廓加工精度。

Robust Tracking Control Based on ZPETC and DOB for Permanent Magnet Linear Synchronous Motor

For the high precision permanent magnet linear synchronous motor direct-drive servo system,a robust tracking control strategy is proposed. The strategy is based on the combination of zero phase error tracking controller (ZPETC) with the disturbance observer (DOB). It enhances the tracking performance and robust performance of the controlled system. ZPETC ensures that the system has fast tracking performance,while DOB reduces the influences of the uncertainties,such as parameters perturbation,external load disturbances,unmodelled dynamic and mechanical nonlinearity. The simulation results show that the control scheme implements perfect tracking and has strong robustness. The positioning precision of the numerical control machining tool feed system is improved and so the precision of the contour machining is improved.