中文摘要：

针对伺服电动缸系统中电机频繁正反转时，存在的推杆相位延迟及幅值误差，将伺服电机编码器的反馈信号引入基于FPGA的运动控制卡中，在驱动器的外部构成一个数字闭环，并在控制卡中运用模糊PID和超前补偿控制，实时修正电机的运行误差；详细介绍了系统的基本控制原理，并通过比较伺服电动缸运行不同轨迹时校正前后误差，证明了该方法先进实用，可进一步提高伺服跟踪精度。

英文摘要：

For phase delay and amplitude error of push rod in servo electric cylinder system with frequent positive and negative rotation, forms a digital closed loop outside the servo driver by using the motion control card based on FPGA to receive feedback signals from the encoder, then uses the fuzzy PID and lead compensation technology to revise the motor running error in real time. The paper introduces the basic control principle of the system, then proves its advance and practicability on tracking accuracy by experiments.