基于内模PID控制方法在大型经纬仪伺服控制器的应用进行详细研究,减少了调试参数,简化了调试过程,分析和仿真结果证明了该算法满足高精度应用场合,并具有较好的可行性和具有较强的鲁棒性,并就一具体项目验证了该算法的实用性。应用结果表明,该方法调试简单,一个控制环路只需要调整一两个参数就能满足要求,高速运行时无超调,低速平稳运行达到15″/s,具有一定的实用性和推广价值。 Based on the internal model PID control method, the application of the large theodolite servo controller is studied in detail, the debugging parameters are reduced and the debugging process is simplified. The analysis and simulation results show that the algorithm meets the requirements of high precision and has good feasibility. It has strong robustness and validates the practicability of the algorithm on a specific project. The application results show that this method is easy to debug, only one or two parameters can be adjusted in a control loop, no overshoot at high speed and 15 "/ s at low speed, which has some practicality and promotion value.