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以水下转台的研制为背景，对同轴套装双无刷直流电动机驱动系统及其特殊问题进行了研究，并应用ＱＦＴ控制理论设计系统的鲁棒解耦控制器。该方法在保证系统闭环稳定性和动态性能前提下，使解耦控制器对系统作最大限度地解耦。仿真和实验结果表明，这种鲁棒解耦控制器效果良好。
With the development of underwater turntable as a background, the coaxial brushless DC motor drive system and its special problems were studied, and a robust decoupling controller was designed using QFT control theory. The proposed method decouples the decoupling controller from the system to the maximum extent while ensuring the closed-loop stability and dynamic performance of the system. Simulation and experimental results show that the robust decoupling controller works well.