摘  要：提出一种无静差定点伺服跟踪控制器的设计。控制律中包含线性状态反馈、对给定输入和扰动的前馈补偿，其中采用时间延迟控制的方法对未知扰动进行估计并用于补偿，采用一个现值观测器对系统的不可量测状态进行估计。把这种控制方法用于一个永磁直线电机位置伺服系统的控制，并在Matlab/Simulink中进行了仿真研究，结果表明所设计的控制系统可以对给定目标位置进行快速和准确的跟踪，且对扰动和系统参数差异具有较好的性能鲁棒性。
关键词：直线电机；扰动；时间延迟控制；状态观测器；鲁棒性

Abstract:  The design of an accurate servo tracking controller was presented. The control law consists of a linear state feedback part and feed-forward compensation terms for the target reference and disturbance. The estimation of disturbance was provided using the method of time delay control. A current observer was adopted to estimate the un-measurable state variables. The control scheme was applied to a PM linear motor position servo system. Simulations were carried out in Matlab/Simulink. The results confirm that the proposed control scheme can achieve fast and accurate tracking of target reference, and has good performance robustness with respect to the disturbance and parameter variations.
Key words:  linear motor; disturbance; time delay control; state observer; robustness