The observer of disturbance torque is applied to reduce the affect of torque disturbance on speed.
另外在此基础上，采用了负载转矩扰动观测器，减小了负载扰动对速度的影响。
And the strong robustness to both variation of parameters and load torque disturbance can be achieved by using the proposed method.
对电机参数摄动及负载扰动具有更强的鲁棒稳定性。
Also, to compensate the torque disturbance caused by load variations, a torque disturbance feed-forward is designed in motor speed loop.
针对速度环难以对负载转矩扰动进行及时调节的问题，设计了负载转矩的前馈环节来进行动态转矩补偿。
This paper analyzes the torque disturbance of the wheeled mobile robot due to dynamic uncertainties during motion and presents a sensor based control method for the mobile robot.
本文分析了轮式移动机器人在运行过程中由于动力学不确定性引起的力矩扰动，并提出了一种基于传感器的移动机器人控制方法。
Mathematic model of satellite attitude dynamic is set up, and external disturbance torque is analyzed.
建立卫星姿态动力学数学模型，并分析星体所受的外部扰动力矩。
The multi-period disturbance torque is related to three-axis rotate speed of turntable and influences localization precision, position precision and speed precision of turntable.
该多周期扰动力矩与转台三轴转速有关，影响转台的定位精度、位置精度和速率精度。
With this method the depth variance of plow, the variance of the revs and the torque of engine can be calculated, according to the given characteristic of stochastic disturbance.
这个计算方法，根据给定的系统随机输入的统计特征，可计算各犁铧耕深的方差、发动机转速和扭矩的方差。
The simulation results show that this kind of the control law can decrease the disturbance torque effectively and improve the robustness and tracking property of the system.
仿真结果表明这种控制方法有效地抑制了多余力矩的干扰，提高了系统的鲁棒性和跟踪性能。
A finite dimensional repetitive control method is proposed for the high precision velocity control of servomechanisms subject to significant nonlinear disturbance torque.
提出了一种有限维重复控制方法，以实现对有严重非线性扰动力矩的伺服机构的高精度速率控制。
Mechanical environment where spacecraft disturbance torque is very small in out space is simulated making use of a three-axis full physics air-bearing table as controlled object.
本文利用三轴全物理仿真气浮台作为控制对象，模拟航天器在外层空间所受扰动力矩很小的力学环境。
This paper adopts MMG modeling ideas, and calculates separately the force and torque including hull, main power plant and external disturbance.
本文采用MMG模型，分别从船体、主动力装置以及外界干扰三方面考虑作用于船舶上的力和力矩。
The decoupling control of 3DOFM can be realized by vector control and disturbance torque observer.
本文提出的矢量控制和扰动转矩观测器方法解决了电磁和力学耦合的问题。
The disturbance torques imparted by space environment are analyzed, which include gravity gradient torque, solar pressure torque, aerodynamic torque and magnetic torque.
对作用在卫星上的各种空间环境力矩进行了分析，包括重力梯度力矩、太阳光压力矩、气动力矩、剩磁力矩等。
This paper presents an estimation method for speed and disturbance torque based on observer theory.
本文根据观测器理论估测直流马达的转速与干扰转矩。
The disturbance torque dealt with is assumed to be periodic in position, which is very common in practice.
所考虑的非线性扰动力矩是角位置的周期函数，这在实践中是很常见的。
The electrostatic disturbance in gravitational field and the magnetic disturbance can produce disturbing torque, then affect the accuracy of ESG north finder.
有关静电陀螺的文献对于静电干扰讨论较多，本文则侧重对静电陀螺寻北仪中的磁干扰进行讨论。
The electrostatic disturbance in gravitational field and the magnetic disturbance can produce disturbing torque, then affect the accuracy of ESG north finder.
有关静电陀螺的文献对于静电干扰讨论较多，本文则侧重对静电陀螺寻北仪中的磁干扰进行讨论。
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