介绍了一种自适应高精度转速算法，既保证了在高转速和低转速时计算的精度，也使得在低转速测量时有很好的实时性。
An adaptive algorithm of rotation speed is introduced in this paper. This algorithm assures not only the precision at high speed and low speed but also the real-time performance at low speed.
施加不同的预压力在低、高真空环境下对超声电机的转速、转矩及温升进行测量并与常态下相比较。
By applying different pre-pressure, the speed, torque and temperature of the ultrasonic motor in low and high vacuum have been tested and compared with the normal condition.
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