中文摘要：

针对光电稳定平台中伺服控制系统的模型不确定性、内外部扰动和传感器误差等各项因素，提出基于多回路、双自由度内模控制的稳定环控制器设计方法，实现对各项误差因素的控制器分层设计。首先，对伺服控制系统的单回路控制结构和多回路内模控制结构进行描述，并深入分析了两者的误差扰动和模型扰动抑制性能；然后，详细讨论了多回路内模控制结构中，电流环、速度环和稳定环控制器的详细设计过程，并给出基于双DSP的伺服控制系统硬件电路设计和软件流程实现。最后，系统的时域特性实验和载体姿态扰动、摩擦力矩干扰、模型参数摄动实验表明：多回路内模控制结构具有良好的指令跟踪精度、扰动抑制性能和鲁棒特性，最终的稳定精度达到0．006°（0．1mrad）。

英文摘要：

A multi-loop and two-degree-of-freedom IMC controller was proposed to suppress the errors of servo control systems for electro-optical stabilized platform, and the novel method had realized hierarchical design of controller for various errors, such as model uncertainty, internal or external disturbance and sensors errors. Firstly, the comparison between single-loop control structure and multi-loop IMC control structure were illustrated, and the characters of disturbances suppression were also analyzed deeply. Secondly, development of current loop, velocity loop and stabilization loop of multi-loop IMC control structure was discussed carefully, and the hardware and software of servo control systems based on dual DSP were presented. Lastly, several experiments had been carried out, just like step response, attitude disturbance suppression ,friction moment suppression, model parameter disturbance suppression. The experimental results show that multi-loop IMC control structure has excellent accuracy of instruction trace, disturbance suppression and robustness. The stabilized accuracy has reached 0.006° （0.1 mrad）.