The control system model consists of control strategy, sensors and actuators sub models. The control strategy is a PID controller.
控制系统模型包括控制策略、传感器和执行器模型，本文选用的控制策略为PID调节器。
Robot soccer system and structure of strategy sub-system that is composed of data message pretreatment, role assignment , action arrangement, velocity output is introduced.
介绍了足球机器人系统以及决策子系统结构，该结构分为数据信息预处理，角色分配，动作安排，轮速输出。
First this paper structures the sub-task dividing strategy of process planning, Then the problems for the existence of fixed program reasoning in expert system are analyzed.
在构造工艺设计子任务分解策略的基础上，对专家系统中基于固定程序推理所存在的问题进行了论述。
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