中文摘要：

为使直接驱动回转送进系统具有良好的抗扰性能及速度指令跟踪性能，采用基于模型匹配鲁棒2自由度控制结构，设计一个H∞速度控制器。H∞速度控制器使系统对负载扰动及自身参数变化具有较强鲁棒性，同时采用鲁棒2自由度结构，并考虑模型匹配问题，是为了提高系统对速度信号的渐近跟踪性能及响应速度，可以解决抗干扰性能和快速跟踪性能之间的矛盾。仿真结果及分析表明，所提出的鲁棒2自由度H∞速度控制器可以保证高精度直接驱动转台回转送进系统的鲁棒性和精确速度跟踪。

英文摘要：

To make the direct drive rotary feeding system with good interference rejection and tracking performance to speed com- mand, an H∞ speed controller based on model matching robust two-degree-of-freedom （2DOF） control is designed. The H∞ controller is better in robustness against load disturbances and parameters variations. Simultaneity, the robust 2DOF structure is adopted and the model matching problem is considered to enhance asymptotical tracking performance of the scrvo system to speed signal and respond speed and to solve the conflict between interference rejection and fast tracking performance. Simulation results show that the proposed robust 2DOF H∞ speed controller guarantees the robustness and exact speed tracking for high-precision direct drive round table sorvo system.