The Brushless DC Motor, important part of the system is well controlled including two-closed-loop control method, compensation for dead-time and analysis of fluctuation about swapping phases.

同时针对系统中的关键部分无刷直流电机采取了全面优良的控制策略，包括转速外环电流内环双闭环调速控制，死区补偿，换相脉动分析等。

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That became evident last September, when Mr Putin first announced his plan to return to the Kremlin by swapping jobs with Dmitry Medvedev, who was formally president even though Mr Putin retained ultimate control.

ECONOMIST: Russia's presidency