水下转台工作环境及结构存在许多普通转台没有的技术问题。本文在建立水下转台对象模型的基础上,分析了制约转台控制性能的扰动力矩问题和双轴耦合问题,并分别提出了解决方法。仿真结果表明,应用本文提出的方法,能够大大减小上述两个问题对系统性能的不利影响。 Underwater turntable work environment and structure of many common turntable there is no technical problems. Based on the establishment of underwater turntable object model, this paper analyzes the disturbing torque and biaxial coupling problems that control the control performance of the turntable, and proposes the solutions respectively. The simulation results show that the proposed method can greatly reduce the adverse effect of the above two problems on system performance.