说明：  我在德国留学电机控制实验课的直流部分，包括分别对电流环和转速换的校正，并对是否对反馈值加滤波器性能进行对比，并附上了效果图，是学习电机控制基础，程序的效果明显，实现无差控制，并对动态性能和扰动性能进行了测试。先运行初始化文件，然后加载模型，关于初始化文件的注释，都是电机的参数的设置，直接看模型就可以
(I study in Germany motor control DC part of the experimental class, including the correction for the current loop and speed, and whether the feedback value plus filter performance compared, together with the effect diagram, is learning motor control based program the effect is obvious, and no difference in control and the dynamic performance and disturbance performance test. Can run the initialization file, and then load the model, and comment on the initialization file are motor parameter settings, look directly at the model)