针对永磁直线电机伺服系统的高精度、高品质的控制要求,提出了基于加权积分增益滑模控制器与基于H∞控制的扰动补偿器相结合的控制方法. 所提出的加权积分增益滑模控制器有效的解决了当系统在非滑动模态阶段时切换项增益增大的问题. H∞扰动补偿器不仅有效的保证了伺服系统的稳定性,而且抑制了滑模控制存在的高频抖振对控制系统输出的影响. 通过仿真结果可以看出,所提出的控制方法使永磁直线电机伺服系统具有良好的动态性能,并具有对系统参数变化不敏感和鲁棒性强的优点.%In order to meet high precision and high reliability required for the permanent magnet linear motor servo system, a method that combined sliding tracking mode controller and the H∞ disturbance compensator is proposed. The weighted integral gain sliding mode controller effectively solves the problem of switching gain increase on non sliding mode phase. The H∞ disturbance compensator effectively suppresses the effect of chattering sliding mode control in the linear motor servo control system and inhibited a variety of disturb-ances within the closed-loop system. The results of simulation show that the proposed method can make per-manent magnet linear motor servo system have good dynamic performance, strong robustness and the insen-sitive to system parameter variations.
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