For the problem of linear motor servo system which has no middle transmission mechanism and the load disturbance influences the performance of the servo system seriously. In this paper,author establishes a load disturbance model of the permanent magnet linear synchronous motor(PMLSM) servo system and puts forward an method which combined the modified disturbance compensator with the composite control to suppress load disturbance. The method applies the online disturbance observer and compensator to real-time estimate disturbance from friction, ripple thrust, it is not only improving the dynamic performance of the disturbance compensator, but reducing the system response time by setting up current gain. The Pi-Repetitive controller can control accurately speed. Simulation shows that this method of disturbance suppression can not just decrease the response time, more than improve the control accuracies and robustness of linear motor servo system.%针对直线电机伺服系统没有中间传动机构,负载扰动严重影响系统伺服性能这一问题,文章在建立永磁同步直线电机伺服系统负载扰动模型的基础上,提出了一种改进型的扰动补偿器与复合控制器相结合的扰动抑制方法.该方法采用在线扰动观测与补偿器来实时估计源于摩擦力、纹波推力等扰动并进行补偿,并且通过设置电流增益来改善扰动补偿器的动态性能,减少系统响应时间.速度环采用PI与重复控制相结合的复合控制方式,实现速度的精准控制.通过仿真验证,该扰动抑制方法不仅能减小系统的响应时间,而且提高了直线电机伺服系统的控制精度和鲁棒性.
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