摘要：针对永磁直线同步电动机端部效应引起的推力波动对直线伺服控制系统控制精度产生影响的问题，利用磁阻力在直线伺服运动过程中的变化规律，在分析永磁直线电动机状态方程的基础上，设计降阶扰动观测器以补偿并抑制端部效应。基于扰动观测器建立永磁直线电动机的伺服控制系统模型，并通过模型仿真直线电动机在稳态负载、速度突变、突加负载以及往复运动等多种工况下的响应特性，验证扰动观测器对端部效应补偿的有效性。
关键词：永磁直线同步电动机；端部效应；扰动观测器；控制系统

Abstract: The performance of the Permanent Magnet Linear Synchronous Motor (PMLSM) servo control system is influenced heavily by he thrust ripple caused by the end effect of linear motor, thus a reduced order disturbance observer whose aim was to compensate the end effect based on the analysis of PMLSM. Based on the disturbance observer, a PMLSM servo control system model was established, through which the response characteristics under various control conditions, namely, the steady state load, the velocity sudden change, a load sudden change and reciprocating movement, to verify the effectiveness of the designed disturbance observer is studied.
Key words: PMLSM; end effects; disturbance observer; control system