设计了主程序模块、采样中断模块、故障处理模块，并分别编制了子程序。

The software is divided into main program module, interrupt module, fault disposal module. These subroutines of each module are designed respectively.

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主程序按顺序调用各程序模块并传输数据；

The main program calls the program modules in sequence and transfers data.

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软件分为五块：主程序中的初始化模块、换相子程序模块、电流调节、速度调节子程序模块，定时器中断程序模块。

The system software involves five main modules: initialization module, phase-changing module, current-regulating module, speed-regulating module and timer interrupt module.

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