针对Z 向升降运动二级传动机构的协调控制问题，提出了摆线方程的机构运动切换策略和单神经元自适应PID 控制方法。
The second is Single Neural Adaptive PID Control which is adopted to realize coordinative control of two motors running for elevating motion in direction Z.
其中传动机构包括二级减速机构、飞轮储 能机构和曲轴传动机构；
The drive mechanism includes a two-grade reducing mechanism, flywheel energy-storing mechanism and crank drive mechanism;
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