基于H∞/m方法的永磁直线同步电机鲁棒二自由度控制

针对永磁直线同步电机(PMLSM)直接驱动伺服系统易受负载扰动、测量噪声及参数变化影响的特点，基于H￥/m方法设计了一个鲁棒二自由度速度控制器，解决了传统单自由度控制器在满足系统跟踪性能和抗干扰性能要求方面存在的矛盾。由于在求解m控制器时应用了标准H￥控制理论，大大提高了m控制器的获得速度。该速度控制器克服了标准H￥控制器保守性的缺点，并且对负载扰动、测量噪声和参数不确定性等干扰的抑制方面也比标准H￥控制器更具鲁棒性。仿真结果及分析表明，所提基于H￥/m方法二自由度速度控制器，满足高精度永磁直线同步电机伺服系统对鲁棒性和快速性的要求。

Robust 2-DOF Control for Permanent Magnet Linear Synchronous Motor Based on H∞/μ Method

For the characteristic of permanent magnet linear motor used in direct drive servo systems suffering from the bad effect of load disturbances, measure noises and parameters variations easily, a robust 2-DOF speed controller is designed based on H￥/m control method. Using the standard H∞ control theory can increase the seeking speed largely when seeking for m controller. The control scheme solves the conflict between fast tracking performance and interference rejection of 1-DOF controller, overcomes the conservation character of standard H∞ controller, and is better in robustness against load disturbances and parameter uncertainties than standard H￥ controller. Simulation results show that the proposed robust 2-DOF speed controller based on H￥/m control method meets the requirement of the robustness and rapidity for high-precision permanent magnet linear motor servo system used in direct drive servo systems.