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结合实际工程项目，为提高移载机器人行走部分的定位精度，作者用三段控制的方法对一种移载机器人行走气缸的控制系统进行了改进，并对改进后的控制器进行仿真，结果达到预期效果。
Combined with the actual project, in order to improve the positioning accuracy of the moving part of the transfer robot, the author improved the control system of a moving cylinder by a three-section control system and simulated the improved controller. The results achieved expected result.