At the same time, apply a kind of trail controller usingself-adapted controller to induce the effect arisen by the torque vibration because of load, frication and so on.

• 同时，应用了一种基于自适应控制器的跟踪控制结构，以解决由于负载、摩擦等因素的变化带来的力矩波动对加工精度的不利影响。