建立了基于自抗扰控制器的双级矩阵变换器闭环控制系统模型。
Then, the closed-loop control system model based on the ADRC is established.
驱动器控制架构采用电流与速 度迴路串级的双迴路控制架构，其中可调参数为电流与速度控制器参数。
The main control structure of the servo drive is formed by two cascade loops, which are the current inner loop and the velocity outer loop.
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