The simulation results show that the proposed method can improve system's speed estimation, and it is effective for promoting the efficacy of friction and deadzone compensation.

仿真结果表明：该控制方法在提高系统速度估计精度、改善摩擦力和死区补偿效果等方面具有很好的效果，为直流伺服的系统设计提供了一种较好的方法。

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Then, the diagnosis algorithms for solving stick-slip, deadzone, jam, bias faults are discussed in detail based on analyzing the command, feedback and flow signals from the model.

通过对模型中指令、反馈和流量信号的分析，得出了执行器在粘滞-滑动、死区、卡死、恒偏差故障下的诊断算法；

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Then, the diagnosis algorithms for solving stick-slip, deadzone, jam, bias faults are discussed in detail based on analyzing the command, feedback and flow signals from the model.

通过对模型中指令、反馈和流量信号的分析，得出了执行器在粘滞-滑动、死区、卡死、恒偏差故障下的诊断算法；

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