针对永磁同步直线电机精确速度跟踪的问题，提出一种基于干扰观测器的自适应PID控制器。针对基于矢量控制的直线电机模型设计非线性干扰观测器进行干扰观测。同时，基于李雅普诺夫稳定性设计超限补偿控制器以及在线更新的投影自适应律使PID控制律始终跟随反馈控制律。最后通过试验分析结果，证明了该控制策略有更好的动态性能及鲁棒性。

An adaptive PID controller based on disturbance observer is designed to deal with the problem of speed tracking accuracy of permanent magnet synchronous linear motor (PMSLM). A nonlinear disturbance observer is designed for the linear motor model based on vector control. Based on Lyapunov function, the overload compensation controller is designed and the projection adaptive law is updated on line. These make the PID control law follow the feedback control law. Experimental results show that the control strategy has better dynamic performance and robustness.