The equilibrium current in 24 - pulse traction rectifier system is analyzed . the relation between critical load and resistance of traction rectifier transformer is discussed 摘要分析了24脉波牵引整流系统中的均衡电流，讨论了临界负载与牵引整流变压器阻抗参数的关系。
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Impedance parameters were modified to improve the force control performance by the fuzzy impedance controller according to the difference between the actual and the desired position 模糊阻抗控制器可以根据机器人末端实际位置和期望位置的误差调整阻抗参数，从而提高控制性能和加工效果。
