【目的】针对永磁同步直线电机(PMSLM)在运行过程中由于外部负载扰动及温升引起的参数摄动而导致伺服精度下降的问题，本文使用基于超螺旋算法(STA)的位置环滑模控制器(SMC)，提出一种双在线迭代补偿(DOIC)控制策略，即STA-DOIC。【方法】首先，基于离散化的PMSLM数学模型构建预测框架，并分别引入负载扰动观测器(LDO)和参数扰动观测器(PDO)，以精准估计外部负载突变与内部参数摄动。其次，在预测时域内动态规划补偿时机，基于迭代学习算法在线求解最优补偿量。最后，将补偿量实时注入控制系统，有效消STA的残余误差，显著提升跟踪精度。【结果】基于仿真与试验数据，STA-DOIC控制策略在空载、负载及参数失配等多种工况下均表现出优越性能，平均跟踪误差降低幅度超过95%(仿真)与99%(试验)。LDO与PDO的引入进一步提升了系统抗扰动能力，在外部负载与参数摄动下误差均有所降低。参数η=3 600被确定为最优值，在保证高精度的同时兼顾了系统稳定性。【结论】本文所提STA-DOIC控制策略结合PDO和LDO，有效提升了系统对扰动和参数不确定性的鲁棒性，为高精度伺服控制提供可靠保障。

[Objective] To address the issue of reduced servo accuracy in permanent magnet synchronous linear motors (PMSLM) caused by external load disturbances and parameter perturbations due to temperature rise during operation, this paper employs a sliding mode controller (SMC) based on the super-twisting algorithm (STA) for the position loop. A dual online iterative compensation (DOIC) control strategy, namely STA-DOIC, is proposed. [Methods] Firstly, a predictive framework was constructed based on the discretized PMSLM mathematical model, and a load disturbance observer (LDO) and a parameter disturbance observer (PDO) were introduced to accurately estimate external load variations and internal parameter perturbations. Second, the compensation timing was dynamically planned within the prediction horizon, and the optimal compensation amount was solved online based on the iterative learning algorithm. Finally, the compensation amount was injected into the control system in real time, effectively eliminating the residual error of the STA and significantly improving tracking accuracy. [Results] Based on simulation and experimental data, the STA-DOIC control strategy demonstrated superior performance under various operating conditions, including no-load, load, and parameter mismatch, with average tracking error reductions exceeding 95% (simulation) and 99% (experiment). The introduction of LDO and PDO further enhanced the system’s disturbance rejection capability, reducing errors under both external load and parameter perturbations. The parameter η=3,600 was determined as the optimal value, ensuring high precision while maintaining system stability. [Conclusion] The STA-DOIC control strategy proposed in this paper, combined with PDO and LDO, effectively enhances the system's robustness against disturbances and parameter uncertainties, providing reliable assurance for high-precision servo control.

西安市青年托举计划项目(959202313001)