摘要：针对永磁同步直线电机伺服驱动系统，提出了一种基于推力观测器的模糊滑模变结构控制方案。在常规的滑模控制中引入推力观测器和模糊控制，在不影响滑模控制系统的完全鲁棒性的情况下，有效地对推力扰动进行补偿并削弱滑模切换控制所产生的抖振。仿真结果表明，该方案能有效消除推力波动，提高系统对外在时变扰动的鲁棒性，并使抖振现象得到明显抑制；系统能够获得良好的动、静态性能。

关键词：直线电机；滑模控制；模糊控制；推力观测器

Abstract: A control method was presented for permanent magnet synchronous linear motor servo drive system,which was a fuzzy-sliding mode variable structure based on the thrust observer. On condition that keep the completely robustness of the regular sliding mode control, thrust observer and fuzzy control were employed to compensate the thrust disturbance and minimize the chattering which was generated by sliding mode switch. The simulations indicate that the proposed method can effectively eliminate the thrust ripple, improve the robustness of foreign time-varying disturbance and obviously suppress the chattering. The system can obtain the good dynamic and static performance.

Key words: linear motor；sliding mode control；fuzzy control；thrust observer