Temperature control was realized by PI adjustor based on semiconductor cooler. At the same time, integral separation was introduced to inhibit integral saturation.

温控电路采用比例积分调节器，通过半导体制冷器，使激光器工作在恒温状态下，同时引入积分分离思想，进而抑制积分饱和。

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Due to the large torque ripple of direct torque control in low speed range, a torque Angle adjustor based on fuzzy neural network and PI control was adopted to improve the control effect.

针对直接转矩控制低速时转矩脉动大的问题，采用基于模糊网络与PI控制结合的转矩角调节器来改进控制效果。

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