摘要： 为了提高永磁直线同步电机（PMLSM）直接驱动进给运动的工作性能，针对系统模型参数摄动和扰动频繁不确定等非线性复杂特点，在建立系统二阶位置伺服控制模型的基础上，利用自抗扰控制（ADRC）技术，设计了一种永磁直线同步电机直驱系统位置伺服二阶自抗扰控制器。二阶跟踪微分器（SONTD）采用组合正弦饱和函数sinsign，为系统位置给定指令安排快速无超调的过渡过程；扩张状态观测器（ESO）形成对系统扰动力的快速精确观测及实时动态补偿；通过构造基于全部状态的误差反馈律实现PMLSM的非线性控制。仿真实验表明，该控制系统在PMLSM参数摄动和外部扰动的情况下，均能保持快速而准确的位置跟踪，抗干扰性和鲁棒性良好。

关键词：永磁直线同步电机；自抗扰控制；位置控制；扩张状态观测器；跟踪微分器
Abstract: In this paper, an auto disturbances rejection controller (ADRC) for permanent magnet linear synchronous motor (PMLSM) position servo system was proposed to improve servo dynamic quality in the linear direct-driven motion applications. The controller was built up according to the PMLSM second order position control mathematical model, and concerned the parameters uncertainties and various disturbances. The second order tracking differentiator (SONTD) was constructed by a combinational sine-saturation function sinsign, and provided a fitting transition process for reference position command. The extended state observer (ESO) guaranteed a rapid and precise unknown disturbance observe, and then compensated it to the servo system. The nonlinear control law was synthesized by all of the system state error variables. Simulation results show that the proposed controller has good dynamic and static position tracking performance even if the PMLSM direct-driven system undertakes any parameters perturbation and disturbances, and also prove that the ADRC has strong robustness and good auto disturbances rejection performance.

Key words: permanent magnet linear synchronous motor; auto disturbances rejection control; position control; extended state observer; tracking differentiator