中文摘要：

针对SG-5452460005-15W型永磁式直流减速电动机驱动的YP3091型摄像机云台伺服系统,建立了数学模型,并基于内模控制原理设计了一种新型PID控制器。该控制器设计方便,只有一个可调参数。仿真结果表明：系统的水平跟踪和仰俯跟踪误差均方根分别为0.15 mrad和0.32 mrad。与传统PID控制器相比,在内模PID控制器参数调节方面,系统跟踪响应快,精度高,抗干扰能力强,鲁棒性好。

英文摘要：

For the PTZ（Pan Tilt Zoom）servo system,the model of SG-5452460005-15 W permanent magnet DC gear motor is used to drive YP3091 PTZ camera,the mathematical model of the system is established,and a new PID controller based on internal model principle is designed.The design of the proposed controller is simple and the controller has only one adjustable parameter.The results show that the root mean square tracking errors of azimuth and elevation are respectively 0.15-mrad and 0.32-mrad in the IMC-PID control system.Compared with the traditional PID controller,the parameter regulation of the IMC-PID controller is more convenient,and the system has fast response,high precision,anti-interference ability and better robustness.