摘  要：无铁心永磁直线同步电机具有零齿槽效应、速度范围宽、动态性能高等特点，但其在高精密加工过程中存在的周期性输入和周期性负载扰动会降低系统的伺服性能。为了削弱周期性负载扰动的影响，采用重复控制器和伪微分前馈反馈控制(PDFF)速度控制器来抑制周期性负载扰动的影响。仿真结果表明，所采用的控制系统在实现高频响基础上，有效地抑制了周期性负载扰动对伺服系统的影响并且对周期性输入信号具有良好的跟踪特性。
关键词：无铁心永磁直线同步电机；重复控制；PDFF控制；周期性负载扰动

Abstract: Ironless permanent-magnet linear synchronous motor has the merits of zero cogging, wide speed range，high dynamic performance.But the periodic input and periodic load disturbances in the ultra-precision machining technology destroy the servo performance. To weaken the influences of the position-dependent periodic disturbances, the controller was designed to reject the periodic load disturbances and track the desired periodic input, which associated Pseudo derivative feedback with feed-forward (PDFF) control on the velocity loop with the repetitive control on the position loop. The simulation results show that the proposed scheme can well reduce the influence of the periodic load disturbance of servo system, and improve position-tracking performance of system for the periodically desired signal.
Key words: ironless permanent-magnet linear synchronous motor；repetitive control；PDFF control；periodic load disturbance