The electro-hydraulic torque servo system with positiondisturbance is a kind of complicated electro-hydraulic servo system. The motion of object makes a high displacement disturbance to the system.Due to the influence of other factors,such as the non-linea property of the system and the parameters variation,it is difficult to control.Adaptive control is presented to eliminate the disturbance torque and the influence of parameters variation. On the basis of unchanged strucure,the adopted model ensures the system of satifactory tracking property by using adaptive coutrol and PID control.By means of adaptive control, the robustness and tracking property of systems can be improved greatly, and the disturbance torque is decreased.%在位置扰动型电液伺服施力系统中，由于受力对象的运动给系统带来很大的位置干扰，以及系统的非线性特性、参数时变等因素的影响，给系统的校正和优化带来了困难。针对多余力矩和参数变化问题，在用结构不变性原理进行补偿的基础上，采用模型参考自适应控制，并采用PID控制确保系统有满意的跟踪性能。采用这种控制方法，可以较好地消除位置干扰的影响，同时克服系统的非线性及参数时变等因素的影响，提高了系统的鲁棒性和跟踪性能。仿真研究的结果验证了上述结论。
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