The load disturbance is estimated and compensated by the speed controller, which effectively removes the static tracking error that would be caused by the disturbance without compensation.
通过速度控制器对负载扰动进行估计和补偿,消除了负载扰动可能带来的稳态跟踪误差。
2
The result approaches staticload experimentation very much, and relative error is less than 15 %.