中文摘要：

针对液压驱动舰船稳定平台样机的运动控制要求，提出了一种基于速度前馈结构的复合内模控制方案。以舰船稳定平台的单通道液压驱动单元为研究对象，采用机理建模和参数辨识相结合的方法得到了控制对象的数学模型，在模型的基础上完成了基于速度前馈结构内模复合控制器的设计，并对提出的控制方法进行了仿真和实验研究。仿真和实验研究结果表明：基于速度前馈结构的复合内模控制可以改善系统的跟踪性能，提高系统的抗干扰性和鲁棒性。

英文摘要：

According to the requirements of motion control of a hydraulic driven ship stable plat- form, a composite IMC scheme was proposed based on velocity feed-forward structure. The mathe- matical model of the control object was obtained by the method of mechanism modeling and parameter identification, which was based on the single channel hydraulic drive unit of the ship stable platform. Simulation and experimental studies of the proposed control method were carried out, and the results show that, with the proposed control method, the tracking performance may be improved, as well as the anti-interference and robustness of the system.