According to all of these characteristics of the system, a three-loop fuzzy sliding control mode is adopted, the speed and position loop are outer loop, and the current loop is inner loop.

根据系统这一特点，采用三闭环模糊滑模控制策略，外环为速度和位置闭环，内环为电流闭环的方法设计控制器，并进行了仿真实验研究。

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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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This paper presents a new dual-loop control structure, with a neural network current as the inner-loop and a hybrid fuzzy-PI voltage as the outer-loop.

提出了一种神经网络电流内环控制加混合模糊pi电压外环控制的双环控制结构。

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