摘要： 云台伺服控制系统在追求良好的瞬时响应特性时，往往导致系统稳定裕度的降低；同时，为保证云台伺服系统的高精度性而在控制器设计中引入的较大积分环节，也限制了系统响应速率，并在系统易受机械干扰的60-120Hz频段内引入相位滞后问题，这严重降低了系统抗干扰能力。为解决上述问题，本文提出一种滞后补偿与干扰抑制的高速云台控制方法，即在传统串级双回路比例-积分-微分控制器（PID Controller）基础上，增设线性扩张状态观测器（LESO），并将电机控制的相位滞后时间、转动惯量辨识误差与机械震动等系统内外扰动，扩展成新的状态变量。后将LESO输出作为前馈控制量完成该控制方法的设计。与传统的串级PID控制控制方法相比，该控制方法能够兼顾高响应与高稳定性同时，有效改善云台伺服系统相位滞后问题与抗干扰能力，具有较好的工程应用价值。

Abstract: When pursuing favorable instantaneous response characteristics in gimbal servo control systems, a reduction in system stability margin often occurs. Concurrently, the large integral component introduced in controllers to ensure high positioning accuracy constrains the system's response rate and induces phase lag in the 60–120 Hz frequency band—where the system is susceptible to mechanical resonance. This significantly compromises anti-interference capability. To address these challenges, this paper proposes a gimbal control method based on lag compensation and disturbance suppression. Building upon the traditional cascade dual-loop Proportional-Integral-Derivative (PID) controller, we introduce an additional Linear Extended State Observer (LESO). This LESO treats motor control phase lag, moment-of-inertia identification errors, mechanical vibrations, and other internal/external disturbances as extended state variables. The LESO’s output is then utilized as a feedforward control signal. Compared to conventional cascade PID control, the proposed method achieves balanced high responsiveness and stability, effectively mitigates phase lag issues, enhances the gimbal servo system’s anti-interference performance, and demonstrates strong practical value in engineering applications.