Based on constant tension control mechanism, this article detailedly expounds algorithm of looper torquecompensation and realization of tension control.
本文从恒张力控制的机理出发，详细阐述了活套转矩补偿算法和张力控制系统的实现。
2
The actual control further shows that the control strategies combining double loops torquecompensation allow an effective reduction in surplus of the system and better control of steady-state error.
实际控制效果进一步表明，双环与力矩补偿相结合的复合控制策略可有效减小系统多余力矩，控制稳态误差。
3
So the compensation of pulsating torque is very importance for the application of PMSMs.