With single polar SPWM(Sine Pulse Width Modulation), the whole solution of hardware and software is presented based on the resource of the DSP controller chip.
该系统采用单极性调制的SPWM方式，根据DSP芯片的各类资源给出了一套具体的数字化实施方案。
Pulse Width Modulation device chip is designed by the reverse design method.
脉宽调制器芯片采用逆向设计方法完成。
Pulse current is adjusted by pulse width modulation(PWM)signals from the single-chip processor. In addition, multiple $MA actuators' cooperation helps the active catheter to succeed in guiding motion.
利用单片机输出的脉宽调制（PWM）信号对脉冲电流进行调节和多个驱动器之间的相互配合作用，实现主动导管的导向动作。
Pulse current is adjusted by pulse width modulation(PWM)signals from the single-chip processor. In addition, multiple $MA actuators' cooperation helps the active catheter to succeed in guiding motion.
利用单片机输出的脉宽调制（PWM）信号对脉冲电流进行调节和多个驱动器之间的相互配合作用，实现主动导管的导向动作。
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