http://www.bynav.cn/cn/resource/bywork/healthy-work/659.html
https://blog.csdn.net/hltt3838/article/details/109182666
速度匹配传递对准的杆臂效应补偿研究 paper
https://www.zhihu.com/question/265899456

https://blog.csdn.net/wuwuku123/article/details/105269413

https://zhuanlan.zhihu.com/p/267930057