Secondly, aiming at losing balance between the CW and CCW rotation speed, a balancing compensation algorithm is put forward, and which is implemented with hardware.
其次，针对行波型超声电机的正向和反向速度特性不一致的情况，提出一种正、反向速度平衡补偿算法，并用硬件实现了平衡补偿控制器。
Stroke adjustment: CW and CCW Infinite adjustment in both directions of rotation.
行程调节：化学武器和常规武器公约无限在两个方向上的旋转调整。
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