中文摘要：

将永磁同步直线电动机应用于驱动精密定位平台时，由于直线电动机存在端部效应引起的推力波动、动子磁链非正弦性、摩擦非线性等都将使精密定位平台伺服系统性能变坏。因此，必须采用鲁棒性强的控制策略来抑制这些扰动。提出了一种针对永磁同步直线电动机的自适应模糊滑模控制算法，具有快速性和稳定性，对参数不确定、参数变化和外部扰动具有不变性。该算法由位移、速度、位移误差和速度误差的积分建立了滑模面，建立特定的自适应律，应用模糊系统逼近滑模控制器的输出，最后应用一个切换控制函数来补偿滑模控制器的输出误差。经仿真结果验证，该控制算法能明显地改善永磁同步直线电动机的位移输出精度和速度跟踪性能，具有较好的快速响应性和鲁棒性。

英文摘要：

When the permanent magnet synchronous linear motor is used to drive precision positioning platform, some characteristics of linear motor,such as detent force caused by end effect ,non-sinusoidal flux of motor mover,nonlinear fric- tion,will make the effects of the servo system bad. So we must use some control strategies with high robustness to suppress these disturbances. In this paper, an adaptive fuzzy sliding mode control （SMC） of a permanent magnet linear synchronous motor was proposed, this algorithm had a fast response and robustness characteristics, and invariance of the uncertainties, pa- rameter varia-tions and oscillatory load. The slide mode surfaces were constructed through the integral functions of displace- ment, velocity ,dis-placement error and speed error. Firstly, this algorithm established specific adaptive law. Secondly, it used the fuzzy system to approach to the output of the sliding mode controller. Finally,it applied a switching control law to compensate the output error of sliding mode controller. Experiment and simulation results show that the proposed algorithm can improve the displace-ment output accuracy and speed tracking performance, with fast response and good robustness.