摘要：将基于紧格式线性化的非线性系统无模型自适应控制方法应用于直线电机的控制中利用伪偏导数和伪阶数的概念，用紧格式动态线性时变模型替代直线电机非线性系统模型根据直线电机运动模型的输入输出数据在线估计系统的伪偏导数。仿真实验表明，紧格式无模型自适应控制器对电机这种具有不确知动态的非线性系统有较强的自适应性、抗干扰性、稳定性和鲁棒性，解决了直线电机非线性和不确定性的控制问题。

关键词：无模型自适应控制；紧格式线性化；伪偏导数；直线电机
Abstract: The model-free adaptive control (MFAC) approach of nonlinear systems based on linearization of tight format was applied to control of the linear motor Used the concept of pseudo partial derivative and pseudo order, nonlinear system model of linear motor was replaced with tight format dynamic linear time-varying model According to the linear motor motion model of input and output data online estimation of pseudo partial derivativeThe simulation results show that tight format model-free controller has a strong adaptive，anti-interference，stable and robustness for motor with vaguely known dynamic nonlinear systems, solved the problem of controlling the nonlinear and uncertainty of linear motor

Key words: MFAC; linearization of tight format; Pseudo partial derivative; linear motor