Abstract:This paper proposes a novel torque feedback equivalent structure oriented to the diversity of torque feedback in multi‐layer and multi‐axis complex systems. First, in view of the existing synchronisation control problem, this paper presents master reference synchronous model and master–slave synchronous model in a multi‐layer and multi‐axis synchronous control system. Second, the change of the direct feedback to front layer axis is lower than that of the direct feedback to master axis, and the adjustment diffe… Show more
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