Integrate compensator is introduced in slide mode controller of velocity loop to reduce the torque chattering, and the pseudo slide mode control is used in place loop to reject the place chattering.

• 在速度环滑模控制器中引入了积分环节，减小了转矩的脉动，位置环采用了准滑模控制方案，极大地抑制了位置输出的抖动。