The system structure diagram of DDR torque motor control system
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![](https://www.researchgate.net/publication/283907556/figure/fig1/AS:649302326132736@1531817146422/The-system-structure-diagram-of-DDR-torque-motor-control-system.png)
Block diagram of a basic DTC control system.
![](https://www.researchgate.net/profile/Xingjian-Wang-4/publication/283907556/figure/fig3/AS:649302326136835@1531817146483/Online-estimation-of-dynamic-friction-in-low-output-torque-tracking-control-experiment_Q320.jpg)
The system structure diagram of DDR torque motor control system.
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Xingjian WANG, Associate Professor, PhD, Beihang University (BUAA), Beijing, BUAA, School of Automation Science and Electrical Engineering
![](https://i1.rgstatic.net/ii/profile.image/646830136258562-1531227730438_Q64/Xingjian-Wang-4.jpg)
PDF) Output Torque Tracking Control of Direct-Drive Rotary Torque Motor with Dynamic Friction Compensation
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