中文摘要：

针对高速机床永磁同步直线电机进给单元模型摄动大、扰动力复杂的特点,在建立了进给系统SISO的频域模型的基础上,利用H∞控制理论派生出闭环增益成形方法,对进给系统的频域模型设计了一个鲁棒控制器。仿真和实验表明该非线性控制器跟踪误差、速度响应等性能远优于传统的内嵌式PI控制器,对系统的模型摄动和外界干扰具有较强的鲁棒稳定性。

英文摘要：

In view of the large model uncertainties and disturbances of permanent magnet synchronous linear motor（PMSLM） feeding system for high-speed NC machine tool,a SISO frequency domain model for the feeding system is set up firstly,then a robust PID controller is designed using H∞ closed-loop gain shaping control techniques.Simulations and experiments show that the tracking error and the speeding response of the designed robust controller is much superior to those of the traditional PI controller,the designed nonlinear controller is robust to model uncertainties and disturbances,and has strong robustness to model uncertainties and external disturbance.