First, the mathematic model of joint position servo control system is deduced, then, the sliding mode variable structure control rule is obtained, finally experiment study is carried through.

首先推导了下位机关节位置伺服控制系统的数学模型，然后推导了在上位机上实现的滑模变结构控制率，并进行了实验研究。

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But asynchronous machine is a multivariate close coupling non - linear time - variable parameter system. And it is difficult to control by rule and line through adding exterior signal directly.

而异步电机是一个多变量、强耦合、非线性的时变参数系统，很难直接通过外加信号准确控制电磁转矩。

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As a rule of thumb, you can control one variable in your business: you.

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