中文摘要：

针对永磁直线同步电动机（PMLsM）这一具有未知强非线性、变量耦合性，存在未建模动态和不确定外扰等特点的对象，提出了一种改进型一阶自抗扰控制器（ADRC）并给出其离散形式，它克服了常规自抗扰控制器非线性状态误差反馈控制律中非线性函数的不平滑性，同时利用其扩张状态观测器观测系统内部扰动和外部扰动，并进行补偿，实现了PMLSM调速系统的实时动态线性化。仿真对比分析和实验研究表明，这种改进型ARDC实现的PMLSM调速系统具有很好的动态、静态特性及鲁棒性。

英文摘要：

According to the nonlinear and variable coupling of AC permanent magnet linear synchronous motor（PMLSM） with unknown modeling dynamic state and uncertain destabilization,a improved first-order auto-disturbance rejection controller（ADRC） with its discrete model was proposed ,which could overcome the rough of non-linear function in nonlinear state error feedback of conventional ADRC. The inner disturbance and outside disturbance could be observed with the extend state observer of ADRC, and used it to offset the disturbance of system, and the real-time dynamic linearization of the non-linear speed regulation system of PMLSM was realized. The simulation result indicates the system based on this improved ADRC has better dynamic and static and robust characteristics.