洛仑兹电机在航天、半导体加工、精密仪器隔振等需要高精度伺服控制的场合有着广泛的应用。洛仑兹电机具有电感小、惯性小、行程小的特点，驱动上存在斩波造成电流波动影响精度的问题，控制上存在响应速度慢、扰动抑制对模型依赖性强的问题。本项目在驱动上加入LCL滤波器平滑电流，并在滤波驱动下以自抗扰控制实现洛仑兹电机的直接位置控制，以实现高速、高精度、强抗扰的伺服性能。研究在滤波器设计、滤波器电流控制、洛仑兹电机直接位置控制三个主要层面展开，其理论上的核心在于高阶自抗扰控制器的参数设计与性能分析，以及高阶最优控制结构的自抗扰控制器。本项目提出了以“时间尺度匹配”的全新视角来进行自抗扰控制器的设计，以数值方法来研究高阶最优控制结构的自抗扰控制器，为自抗扰理论研究开辟了新的途径。本项目对于提升洛仑兹电机的伺服性能，促进自抗扰理论的发展，解决其它高阶自抗扰控制问题具有重要意义。

Lorentz motor is widely used in high-precision applications, such as aerospace, semi-conductor manufacture, vibration isolation for precision instruments, etc.. Lorentz motor features of low inductance, small inertia, short operating range, so that on one hand, the chopping voltage can induce current ripples that affects position precision, on the other hand, classic cascade control is not fast enough and disturbance rejection ability largely relies on models. Facing these issues, this project introduces LCL filter to motor drive and Active Disturbance Rejection Control (ADRC) to the control for the purpose of direct-position-control, resulting in fast, precise, disturbance-resistant high performance servo control. This project focuses on three main levels: filter design, filter current control, Lorentz motor direct position control. The key in theory is high order ADRC controller design and analysis, and high-order optimal-control based ADRC controller. This project studies ADRC controller design from a different point of view: ”the match of time scale”, and introduces numerical approaches to get high-order optimal-control based ADRC controller. This project is of great importance for improving Lorentz motor servo performance, promoting the development and ADRC control theory, and resolving other high order ADRC based problems.