理论上来说，这正是模拟了传统油门控制方式中油门线在刹车套管中动作时产生的摩擦力。
It simulates the intrinsic friction that is present in the traditional throttle cable as it passes through the cable housing.
实验研究结果表明，该控制补偿方法可以有效的补偿系统低速运行时的摩擦力，大大提高系统低速性能。
The experiment results indicate this friction compensation method can effectively compensate the friction and greatly improve the system character.
文章针对气缸摩擦力对系统控制性能造成的不良影响，提出了一种新的摩擦力补偿方法。
According to the poor influences of the cylinder frictional forces to the system control performances, the paper provided a new frictional force compensation method.
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