When a dual-arm manipulator carries an object from one position to another, the two arms and the gripped object constitute a closed loop system.

当双臂机械手搬运物体从一个位置到另一个位置时，机架、两个臂和被夹持物体构成一个封闭系统。

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Combined with the structural parameters of TAO649D traction motor, the mathematic model of the DC motor is built and its speed and current dual-closed-loop system is designed.

结合TAO649D机车牵引电机的结构参数，首先建立了该直流电机的数学模型，设计了该电机的转速，电流双闭环系统。

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After space vector PWM modulation algorithms and implementation methods have been analyzed, dual closed-loop vector control system of asynchronous motor is worked out.

分析了空间矢量pwm的调制算法以及实现方法，最后设计了异步电机的双闭环矢量控制系统。

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