The continuous rotating magnet field is transformed into discrete step field in the torque vector control and the electromagnet torque is controlled by means of regulating the stator current.

在矩角控制过程中将连续的旋转磁场离散为步进磁场，通过控制电机定子电流实现对电磁转矩的控制。

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However, since the Permanent Magnet BLDCM speed regulating system is a non-linear Multivariable time-varying one, traditional PID control methodology can not be utilized with good performance.

然而永磁无刷直流电动机调速系统是一个非线性、多变量、时变系统，采用传统的PID控制方法进行控制，难以达到良好的控制效果。

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