Yang Liu

In this paper, we propose a novel equivalent composite control architecture for electro-optical equipment. The improved tracking performance and loss of robustness caused by this structure have a clear relationship with $a_2$, the time coefficient of the compensation circuit. The compensation circuit can make the speed quality factor and the acceleration quality factor of the system infinite, and the jerk quality factor can be expanded to $1/a_2$ times the original acceleration quality factor, but it will cause a main zero point of the servo system to be far away from the virtual axis and the main poles to be close to the virtual axis. As the time coefficient of the compensation loop controller decreases, the tracking performance of the system increases, but the robustness decreases, the dynamic response deteriorates, the water bed effect becomes more obvious, and the system is more susceptible to noise and disturbances. Compared to the existing method, our method focuses on system performance and robustness. Experimental results show that our method can achieve target tracking with a peak accuracy of 64$″$ and 22$″$ (RMS), which is superior to the tracking performance without equivalent composite control.