指出环路的抑制性能是由前馈环的延迟失配、幅度失配和相位失配共同决定。

The result proved that the cancellation performance of cancellation loop is decided by the amplitude imbalance, phase imbalance and delay mismatch.

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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。

Also, to compensate the torque disturbance caused by load variations, a torque disturbance feed-forward is designed in motor speed loop.

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系统中位置环采用前馈控制，提高了位置控制性能。

Feedforward control was adopted in position loop and it improved performance.

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