最后，本文研究了AGV转向控制角的模糊控制算法。
Finally, this paper studies the fuzzy control algorithm of the AGV control.
又因采用外加2m时钟作为计时信号，提高了控制角的分辨率。
Additionaly, by using of 16-bit counters and external 2mhz clock signal, the distinguishability of the control Angle is increased.
通过建立PI输出和控制角的线性化函数，简化控制程序，使励磁电流快速跟踪给定电流。
Linear functions of the PI regulator output and the trigger Angle simplify the control program and make the excitation current follow the set current quickly.
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