中文摘要：

以高稳定精密跟瞄Hexapod平台振动控制为背景，对ADC（Adaptive Disturbance Canceller）方法进行了分析，发现将其应用于平台振动控制中可能存在的两个问题，提出了有前馈的改进ADC方法，从而使方法更好地应用于工程实际。分别将方法应用于复合作动杆单杆实验以及Hexapod平台Adams／Simulink联合仿真，结果一方面说明本文对方法的改进是必要的，一方面说明改进后的方法在实验和仿真中都是有效的，振动可以被抑制90％，相对PID方法结果的优越性是明显的，且可以应用于有较大角度指向功能的Hexapod平台振动控制。

英文摘要：

Considering the background of high stable precise tracking-pointing Hexapod platform vibration control, ADC （Adaptive Disturbance Canceller） method is analyzed, and then hidden problems are discovered. Firstly, when ADC method is used in structure vibration control, result may be not convergent. Secondly, control result may be affected because of phase lag caused by hardware. According to these two problems, for better engineering application, an improved ADC method with feedforward is given. A parallel velocity feedback is added to improve stability of the ADC method. A serial feedforward is added to compensate phase lag. This given improved method is utilized both in experiment of the macro/micro hybrid actuator and Adams/Simulink Co-simulation of the ＂cubic＂ Hexapod platform. Resuits show not only the necessity of the improvements, but also the effectivity of the given method. In the experiment, vibration of the macro/micro hybrid actuator is suppressed about 90%, showing obvious priority of the given method to PID method. In the Co-simulation, vibration of Hexapod can be well controlled even on a Hexapod with biggish angle pointing procedure.