对微机械臂受力分析得到运动学方程，求解后得出微机械臂的关节力矩和宏机械臂末端作用力的关系。在已知柔性臂末端的弹性变形和振动情况的基础上，用PD控制原理使微机械臂关节产生所需力矩(The kinematics equation of the mechanical arm was obtained. The relationship between the joint torque of the micromanipulator and the end force of the macro mani

开关磁阻电机转矩分配函数的源程序和一部分建模(Source code and part modeling of torque distribution function of switched reluctance motor.)

永磁同步电机转矩控制程序，已经通过验证，可以使用(Permanent magnet synchronous motor torque control program has been verified, and it can be used.)

永磁同步电机SMC控制系统模型， 能实现电流、转矩以及转速的控制 ， 控制性能良好(Permanent Magnet Synchronous Motor SMC control system model, can realize current, torque and speed control, good control performance)