本文提出一种新的模型参考自适应模糊控制器，并应用于步行机器人关节速度伺服控制。
This paper presents a new adaptive fuzzy control scheme and its application to speed servo control for a quadruped robot.
本文设计了基于DSP56F805，由速度和电流反馈控制回路构成的伺服系统实时仿真软件，并给出了其设计和编制过程。
This paper illustrates the emulation software architecture of the system based on DSP56F805. The design and implementation of the speed and current feedback loop are described in detail.
实验结果表明，所设计的伺服驱动控制器具有良好的速度控制能力和抗负载扰动能力。
Experiment results indicated that the servo controller possesses the characteristics of good speed control performance and anti-load-disturbance ability.
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