仿真结果表明，系统等效转动惯量和等效阻尼系数的变化以及负载压力和加载转矩的波动干扰，对系统控制性能的影响较大。
Simulation results reveal that equivalent rotational inertia, damping factor, fluctuating loading pressure and loading torque has comparatively large influence on control properties.
外环则针对负载转动惯量的变化，设计了基于内模原理和零极点配置的自校正控制器。
To against variety of load inertia, a zero pole placement self tuning regulator basing on inner model is designed in the outer loop.
结果表明，在一定的负载转动惯量下，控制系统具有较好的动态响应特性、准确性和稳定性。
Results show that the control system has better characteristics in a certain moment of inertia of the load such as responsibility, accuracy and stability.
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