以新型系泊机构气动控制系统为研究背景，以其单个气动分支为例，建立了比例压力阀阀控缸动态数学模型，并对模型的正确性进行了实验验证; 针对一腔形成位置闭环、另外一腔恒压力的独立负载口控制方式，通过将高频低幅的颤振信号叠加于恒压腔比例压力阀控制信号来对摩擦力进行补偿。仿真和实验结果表明，颤振补偿将系统定位精度从补偿前的 1. 1mm 提高到补偿后的 0. 5mm。

Under the research background of the pneumatic control system of new mooring mechanism，taking its single pneumatic branch as an example，the dynamic mathematical model of proportional pressure valve control cy-linder was established and verified by experiments． Given the control mode of independent load port，namely，one cavity is position closed loop and the other is constant pressure control mode，the high frequency and low amplitude chatter signal was superimposed on the control signal of the constant pressure chamber to compensate the friction force． The simulated and experimental results show that chatter compensation improves the positioning accuracy of the system from 1. 1mm to 0. 5mm．