The mover mass,viscous friction factor and disturbance force are estimated by the proposed estimator,which is composed of a recursive least-square(RLS)estimator and a disturbance observer.

• 用由递推最小二乘估计器RLS和负载扰动力观测器构成的估计器来估计动子质量、粘滞摩擦系数和负载扰动力。