The asynchronous machine is fed by cascaded multilevel inverter, and the inverter switching signals are generated by carrier phaseshifted pulse width modulation method.
采用级联型多电平逆变器给异步电机供电，逆变器的开关信号利用载波移相脉宽调制方法生成。
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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