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参数变化影响的特点，将去除正交性假设的H∞控制器设计方法与μ综合中的μ-K迭代法相结合，设计了一个μ-H∞速度控制器。除去正交性假设可以大幅度压缩μ值上界，减少搜寻时间与范围。与纯H∞控制器相比，该速度控制器对负载扰动和参数不确定性更具鲁棒性，且控制器的获取也μ制器快。仿真结果及分析表明，所提出的μ-H∞速度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鲁棒性和快速性的要求。

英文摘要：

For the characteristic of ring permanent magnet torque motor used in direct drive numerical control（NC） round table suffering from the effect of load disturbances and parameter variations, the H∞ controller design methodology without the orthogonality assumptions is combined with μ-K iteration in g synthesis to design a μ-H∞ speed controller in this paper. Removing the orthogonality assumptions can greatly condense the upper bound of μ value and reduce the searching time and scope. Compared with the pure H∞ controller, this speed controller is better in robusmess against load disturbances and parameter uncertainties, and its acquisition is faster than that of the μ controller. Simulation results are analyzed that the proposed μ-H∞ speed controller meets the requirement of the robustness and rapidity for high-precision ring permanent magnet torque motor servo system used in direct drive NC round table.