摘  要：在永磁直线交流伺服系统中，机械环和电流环的控制周期相同，可以提高系统的运动精度，这就要求机械环的控制频率要大幅度提高，但编码器的分辨率一定，采样频率越高，速度反馈的分辨率将降低，反过来又影响系统控制精度和速度平稳性。基于此问题在在机械环中引入状态观测器，推导了机械状态观测器的方程，解决速度反馈延时滞后对系统精度的影响。对传统的机械环和加入状态观测器进行仿真，结果证明了引入机械环状态观测器可以提高系统的抗干扰能力，从而保证了位置控制精度。
关键词：交流伺服系统；机械环；状态观测器

Abstract:  In permanent magnet linear AC servo system, increases the precision if mechanical loop has the same control cycle with the current loop, which requires the control frequency of the mechanical loop to significantly improve. But the resolution of the encoder unchanged, so the higher the sampling frequency, the lower the resolution of the speed feedback, which in turn reduces the system with control accuracy and speed smooth. Based on this issue, this paper introduced state observer in the mechanical loop, derived mechanical equation of state observer to reduce the effect of speed feedback delay lag on the system accuracy. The paper simulated traditional mechanical loop which joined the state observer, results demonstrated that the introduction of state observer to mechanical loop can improve anti-jamming capability of the system, thus ensuring accuracy of position control.
Key words:  AC servo system; mechanical loop; the state observer