closed loop control closed loop control
闭环控制闭环控制
以上为机器翻译结果，长、整句建议使用 人工翻译 。
In the inner closed loop, general PID control method based on encoder feedback of motor is adopted, and in the outer closed loop, a new fuzzy control based on position feedback of joint is adopted.
利用电机码盘反馈构成内位置环控制，采用一般的PID控制律；通过关节位置反馈形成外位置环控制，采用模糊控制算法。
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