螺柱提起高度、送下深度、提起和送下速度等焊接参数的设定由程序控制，减少了人工调整的随机误差；
The setting of welding parameters, involving stud lifting height, stud sending depth, lifting and sending speed and so on, can be accomplished by program control, thus the artificial error is reduced.
根据该差分方程的特征值表达式讨论了AGC模型设定序列的稳定区域和稳态误差与AGC模型参数之间的关系。
On the basis of the expression of characteristic value of the differential equation, the relationship between the stable domain, steady state, steady-state error and AGC model parameters is discussed.
根据跟踪误差改变控制器参数以精确地跟踪设定电流；
Variable structure control strategy correspond to tracking error was implemented to reach ideal current with high precision.
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