中文摘要：

针对一类音圈电机直接驱动的二自由度高速精密定位平台，为了在高速高加速情况下，获得良好的动态特性，对其动力学控制方法进行研究．构建了基于音圈电机的x向定位平台的机电耦合动力学模型，并基于此对平台的控制器进行设计，最终得到一种鲁棒性强、易于实现的控制器．该控制器由内环的电流控制器和外环的位置控制器、前置滤波器、前馈控制器、重复控制器和扰动观测器组成．理论分析和仿真实验证明，该控制器能较好地改善此类平台的动态特性，具有调节时间短、无超调和动态响应准确快速等优点，并能够有效提高系统的抗干扰和高频扳动能力．所得结论对此娄平台控制器的设计且有一定指单意义．

英文摘要：

For a kind of 2-D high speed and precision positioning table driven directly by voice coil actuator,the dynamic control method was investigated to obtain good dynamic characteristic in case of high speed and high acceleration. The dynamic model of the complicated x-axial electro-mechanical systems driven by voice coil actuator was established, based on which, the controllers was designed. As a result, a high robust controller was easily accomplished, consisting inner-loop, the current loop, outer-loop, the position loop, pre-fiher controller, feedforward controller, repetitive controller, and disturbance observer. Theoretical analysis and simulation experiment showed that this kind of controller can improve the dynamic characteristic of the positioning table with a short setting time, little overshoot and a fast dynamic response, and can also restrain disturbance and high frequency vibration.