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1·The variable motor swing Angle is real-timely compensated according to the structural invariability for speed control, through the load vibration observer.

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。

2·The error is compensated by the step-motor. The step of step-motor is subdivided 2,4 and 8.

步进电机的硬件细分驱动，实现了步距2细分、4细分、8细分。