NC rotary table servo system, which is directly drived by permanent-magnet ring torque motor, is more sensitive to disturbances torque and parameters uncertainties, which greatly reduces servo performances of the system. A multi-objective mixed l1/H∞controller was designed to solve the contradiction between rapidity and robustness. Since the solutions to the advanced l1/H∞,δ control and the mixed l1/H∞control were consistent, the rational suboptimal solution to the mixed l1/H∞controller was obtained via truncation method. Simulation results and analyses show that the proposed mixed l1/H∞controller can meet the requirement of the robustness and rapidity for ring permanent magnet torque motor servo system used in direct drive NC rotary table.%采用环形永磁力矩电动机直接驱动的数控转台伺服系统对干扰转矩和参数不确定性更为敏感,影响了系统的伺服性能.为解决环形永磁力矩电机伺服系统快速性和鲁棒性之间的矛盾,采用多目标混合l1/H∞控制方法设计速度控制器,利用改进的l1/H∞,δ控制与混合l1/H∞控制的解的一致性,通过截断方法获得控制器的有理次优解.仿真结果及分析表明,所提出的多目标混合l1/H∞控制器能满足数控转台对环形永磁力矩电机伺服系统快速性和鲁棒性的要求.
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