通过负载扰动观测，依据系统结构不变性原理实时补偿变量马达摆角，实现系统的转速控制。
The variable motor swing Angle is real-timely compensated according to the structural invariability for speed control, through the load vibration observer.
加法器将指令移动量与各补偿移动量相加以驱动各马达。
Adders add up the command motion amounts and the respective compensation motion amounts to drive respective motors.
在扇形扫描中，马达稳速的控制是通过相位补偿实现的。
The steady rotating speed control is achieved by phase-compensation in sector scan.
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