中文摘要：

为提高永磁同步伺服控制系统的控制性能，针对传统交流伺服电机矢量控制系统中PID控制器不能兼顾跟踪和抑制干扰的缺陷，引入二自由度控制，使伺服控制系统中与指令相关的前馈调整和与外部振动相关的反馈调整可以独立运行，从而使伺服系统获得良好的跟随性能和干扰抑制特性，有利于实现伺服系统的高速化，提高系统的控制精度。通过MATLAB／Simulink仿真验证了永磁同步伺服电机二自由度控制的可行性和有效性，提出了永磁同步伺服电机二自由度控制系统的设计方案。

英文摘要：

To improve the performance of permanent magnet synchronous servo control system, the two degreeof-freedom control to traditional AC servo motor vector control system was introduced, aiming at overcoming the shortcomings of PID controller, which can＇ t give both excellent track and perfect interference resistance performances, so that the feed-forward adjustment associated with the directive and the feedback adjustment sassociated with external vibrationcan be run independently, then the servo system could achieve both good disturbance rejection characteristics and target tracking performance, which could help to achieve the high speed and high precision control of the servo system. The feasibility and effectiveness of the two degree-of-freedom control of permanent magnet synchronous serve motor were proved through MATLAB simulation. The execution program was also introduced.