理论上来说，这正是模拟了传统油门控制方式中油门线在刹车套管中动作时产生的摩擦力。
It simulates the intrinsic friction that is present in the traditional throttle cable as it passes through the cable housing.
实验研究结果表明，该控制补偿方法可以有效的补偿系统低速运行时的摩擦力，大大提高系统低速性能。
The experiment results indicate this friction compensation method can effectively compensate the friction and greatly improve the system character.
气动脉宽调制位置伺服系统是非线性的系统，在气缸摩擦力较大的情况下，采用传统的控制方法难以取得满意的效果。
Pneumatic PWM position servo system is nonlinear system. The satisfied results are difficult to be obtained with traditional control method while the friction force of cylinder is large.
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