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。
This system with brushless DC motor (BLDCM for short) as its drive adopts three-loop control strategy to achieve the aim at high accuracy position trail of rudder.
该系统以无刷直流电机作为伺服电机，采用三闭环的控制策略，实现舵面位置的高性能跟踪。
Motor boats in those days didn't have clutches, and you would make a landing by shutting off the motor at the proper time and coasting in with a dead rudder.
那时机动船都没有离合器，靠岸时你必须适时关闭马达，将舵打死。
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