中文摘要：

与旋转电机相比，直线电机由于减少了齿轮等中间传输环节更容易受到干扰力的影响，所以提高直线电机控制系统的抗干扰性能具有非常重要的意义。文中在建立直线电机干扰模型的基础上提出了一种有效减弱直线电机电磁推力波动干扰的方法。该方法采用干扰观测器和迭代学习算法相结合的策略，从而可以抑制干扰力对直线电机控制系统的影响。并因此可以获得很高的稳态位置精度。仿真结果和实验结果显示，在采用该文设计的基于干扰观测器反馈和迭代学习相结合的抗干扰系统后，直线电机位置系统可以达到较好的抗干扰效果，而且可以达到更高的定位精度。

英文摘要：

Compared with rotation motors linear motors （LMs） are more sensitive to various force disturbances with the reduction of gears and so on. So it is significant to improve the anti-disturbance performance of LMs. Based on the force disturbance model, a method is proposed to alleviate the force disturbances of LMs effectively. Combined the disturbance observer with the iteration learning algorithm, the proposed method can suppress the force disturbances of the control system of LMs. Therefore, high steady-state positioning precision can be achieved. Simulation and experimental results show that high anti-interference performance can be achieved by using the proposed disturbance suppression method. At the same time, the LM can achieve higher positioning precision.