動態高型控制在形式上相當于積分分離的PI 控制器，按控制理論中經典的PID 控制的解
釋，積分環節提高了系統的無靜差度，從而提高了系統的穩態精度。本文從其它角度對動態高型控制在理論和仿真實驗兩個方面進行了深入研究，基于光電跟蹤伺服系統， 設計出一個高精度的動態III型控制系統。仿真中，當目標的最大加速度60° / s2、最大速度60° / s 時，兩個高型控制環節隨時間逐次動態加入，使該動態III 型系統穩態時最大跟蹤誤差達到了1.3"。
關鍵字 動態高型控制 穩態精度 跟蹤

Abstract Dynamic high type control is formally equal to PI controller. According to the explanation for the classic PID controller in the automatic control theory, the integral section increases the non-error degree so the static precision is improved. Study on both the theory and simulation for the dynamic high type control is carried out here. Based on an optoelectronic tracking servo system, we propose a dynamic III type control system with the high tracking precision. In the simulation, when the target is with maximum acceleration 60° / s2 and maximum speed 60° / s , the two integral sections are introduced dynamically step by step, and the maximum static tracking error 1.3" is obtained.
Keywords dynamic high type, control, static precision, tracking