连续回转电液伺服马达具有超低速、宽调速、高精度和高频响的性能，可用于直接驱动仿真转台、负载模拟器等需要实现连续旋转运动的场合。针对连续回转电液伺服马达高低压换接时存在压力冲击的问题，提出一种均布于四个配油腰型槽之间的阻尼孔与矩形密封腔相结合的预压缩容腔结构，建立马达关键部位的流固耦合模型，通过CFD仿真研究不同的预压缩容腔结构尺寸对压力冲击的影响，利用果蝇优化算法确定最佳的预压缩容腔结构尺寸。提出采用Pol-Ind摩擦模型进行摩擦特性研究，并采用改进粒子群优化算法对摩擦模型参数进行辨识，获得适合于连续回转马达低速运行的精确摩擦力矩模型。考虑电液伺服控制系统特性的影响，采用改进滑模自抗扰控制策略提高连续回转马达的频响和低速性能指标，使其具有良好的跟踪能力和抗干扰能力，并通过仿真及实验验证其可行性。本项目的研究可改善连续回转马达超低速性能，拓宽系统的频响范围，为马达的工程应用奠定了基础。

Continuous rotary electro-hydraulic servo motor with the performance of super low speed, wide speed range, high precision and high frequency response can be directly used to drive the simulation turntable and the load simulator which need to realize continuous rotary motion. In order to solve the problem of pressure impact during the high-low pressure change of continuous rotating electro-hydraulic servo motor, a kind of pre-compression cavity structure was proposed and combined with damping hole and rectangular sealing cavity, which was arranged between four matched waist slots, and the fluid-solid coupling model for the key parts of the motor was established. Based on CFD simulation, the effect of different pre-compression cavity structures and dimension on pressure impact were studied, and the structure of pre-compression cavity was optimized by Drosophila Optimization Algorithm. The friction characteristic was studied by using Pol-Ind friction model, and the parameters of friction model are identified by improved particle swarm optimization algorithm, and accurate friction torque model for continuous rotary motor at low speed was obtained. Considering the influence of the characteristic of electro-hydraulic servo control system, the improved sliding mode self-disturbance control strategy was used to improve the frequency response and low speed performance of continuous rotary motor, and good tracking ability and anti-interference ability could be achieved, which can be verified by simulation and experiment. This project can improve the low speed performance and widen the frequency range of servo system, and lays the foundation for the engineering application of the motor.