中文摘要：

以海洋深度模拟器液压系统为研究对象，结合液压伺服控制理论，分析了系统结构，建立了其数学模型．为满足海洋深度模拟器具有动态响应快、跟踪精度高等要求，设计了零相差PID控制器，PID控制器用于提高系统的快速响应性，零相差跟踪控制器用于减小系统在高频响时的相位差，提高系统的控制性能．基于Matlab仿真环境，分析了海洋深度模拟器的频率响应特性，并采用不同频率的指令信号对系统进行了仿真分析．结果表明：零相差跟踪控制器可有效减小系统的响应误差，提高系统在高频响时的动态跟踪精度．

英文摘要：

According to relevant technologies of hydraulic transmission, the construction of depth simulator was analyzed and the system was described mathematically. To meet the requirements for ocean depth simulators, the ZPETC-PID （zero phase error tracking controller-proportional-integral-derivative） controller was designed. The PID controller can improve the response speed of the system, while the ZPETC can reduce the large phase error in high-frequency response and improve the control performance of the system. A simulation on ocean depth simulator with the controller was implemented based on Matlab and the frequency response characteristics of the system were analyzed. The results show that the ZPETC-PID controller pre proves dynamic tracking accuracy of the sented effectively reduces the system response errors and imsystem in high-frequency response.