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The traditional three-loop position control applied in the servo system with elasticity causes residual vibration around the objected position and has long trailing time. To address this issue，a mathematical model of the two-inertia system was established，and the causes of low-damping of the traditional position closed-loop structure were analyzed in detail. It was proposed to modify the speed loop structure combined with resonance-ratio control to guarantee the high-damping of the closed-loop system. The controller parameters were designed by use of the equal real part design，zero-pole elimination and polynomial method to achieve the high-damping characteristics. Simulation results show that the proposed high-damping position control can well suppress the fluctuation，achieve smooth position tracking，significantly reduce the trailing phenomenon compared with traditional P-PI method.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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