By block diagram and feedback-control principles expression is derived for speed-stiffness in the loop and speed error due to load calculated.
并用方块图与反馈控制理论导出了这种调速回路速度刚性的数学表达式，估算了由负载引起的速度误差。
Constituted the speed closed-loop system with the speed feedback, used the low pass filter method to reduce the error, so the overall system control performance is advanced.
利用计算出来的速度反馈构成了速度闭环系统，并采用低通滤波方法减小误差，同时应用了零矢量调制控制法减小转矩脉动，提高了整个系统的控制性能。
Based on forenamed knowledge, the paper designs a double-loop NPID excitation controller, which has parallel feedback of voltage and error of rotate-speed.
在上述基础上，本文设计了一个具有机端电压反馈和转速偏差反馈的双环非线性PID控制器。
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