说明：  根据轮式机器人速度稳定控制系统，建立速度、电流双闭环控制系统。轮式机器人的速度与电流双闭环控制系统。
(According to the speed stabilization control system of wheeled robot, the speed and current double closed-loop control system is established. Double Closed Loop Control System of Speed and Current for Wheeled Robot)