本文从旋转变频磁控管式频率捷变雷达的本振频率跟踪原理出发，分析了产生本振频率跟踪误差的主要因素。

The' main factors resulting in local frequency tracking error are analyzed based on the principles of the tracking local oscillator for frequency agile radars of rotary tuning magnetron type.

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卡尔曼增益通过变遗忘因子进行改进，避免误差的累积。

Using improved Kalman filter to forecast and track. Kalman gain is improved through variable forgetting factor which will avoid the accumulation of errors.

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功率放大器的输出误差、压电陶瓷的洄滞及蠕变误差、驱动器之间的耦合误差等是影响机器人运动精度的关键因素。

Output errors of power amplifiers, hysteresis and creep error of PZTs and coupling error among the actuators are the critical factors affecting the motion accuracy of micromanipulator.

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