在以往的研究过程中，主要发现电液伺服控制单元在零位时存在振动，左右行程不对称，精度和快速性达不到使用要求的问题。

In the previous studies, Central oscillation, asymmetry of left and right movement and insufficient precise and speed of response are the main problems of electro-hydraulic servo control unit.

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电液控制单元是船用舵机电液位置伺服系统关键部件，其性能的优劣直接影响舵机的性能。

Electrohydraulic control unit whose performance has direct effect on rudder's characteristics is the key component of ship rudder position control system.

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机械臂的系统控制硬件主要包括伺服电机系统﹑控制单元﹑运动控制单元﹑上层管理单元。

The control system of the manipulator consists of servo motor control unit, motion control unit and top management unit.

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