Dual-closed loop structure is adopted in main thrust motor and rudder motors, and PI controller is implemented by DSP software.
对主推进电机和舵电机的控制采用了双闭环结构，PI调节器由DSP软件实现。
Dual-closed loop structure is adopted in main thrust motor and rudder motors, and PI controller is implemented by DSP software.
对主推进电机和舵电机的控制采用了双闭环结构，PI调节器由DSP软件实现。
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