中文摘要：

针对直接驱动数控转台用环形永磁力矩电机易受负载扰动及自身参数变化影响的特点,文中基于线性矩阵不等式（linear matrix inequality,LMI）,设计了一个多目标混合H2/H∞静态输出反馈控制器,该控制器可使闭环系统的极点均落在预先选定的线性矩阵不等式区域D内来实现极点配置。所设计的多目标控制器同时考虑了闭环系统的极点位置和2个重要的鲁棒性能指标（H2和H∞范数）,不但保证系统的稳定型和快速性,还使系统对外界及自身扰动具有较强的鲁棒性,在很大程度上解决快速性和鲁棒性之间的矛盾。仿真结果及分析表明,所提出控制器满足高精度直接驱动数控转台用环形永磁力矩电机伺服系统对快速性和鲁棒性的要求。

英文摘要：

For the characteristic of the ring permanent magnet torque motor used in direct drive numerical control（NC） round table suffering from the effect of load disturbances and parameters variations, a multi-objective mixed H2/H∞ static output feedback controller, which makes all poles of the closed-loop system be located within a prescribed linear matrix inequality（LMI） region D to achieve pole placement, is designed based on LMI. The designed multi-objective controller considers the pole place of the closed-loop system and two important robust performance objects（H2 and H∞ norm） simultaneously, which doesn＇t only guarantee stability and rapidity of the system, but is better in robustness against external and internal disturbances, and greatly solve the contradiction between rapidity and robustness. Simulation results show that the proposed controller meets the requirement of robustness and rapidity for the high-precision ring permanent magnet torque motor servo system used in direct drive NC round table.