Feedforward control was adopted in position loop and it improved performance.
系统中位置环采用前馈控制，提高了位置控制性能。
The parameters of the current loop, velocity loop and position loop were determined.
确定了电流环、速度环和位置环的参数。
The parameters of the current loop, velocity loop and position loop were determined.
确定了电流环、速度环和位置环的参数。
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