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。
The result approaches static load experimentation very much, and relative error is less than 15 %.
与静载试验结果非常接近，相对误差小于15 %。
The result approaches static load experimentation very much, and relative error is less than 15 %.
与静载试验结果非常接近，相对误差小于15 %。
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