The detailed hardware circuit is given and the software control strategy was designed, and the self-adaptive parameter PI arithmetic was adopted.

设计了具体硬件电路和软件控制策略，控制算法采用参数自适应PI控制。

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The paper presents the control strategy of the microcomputer with knowledge base, and describes the software and block diagram of work of the two-stage microcomputer control system.

本文给出了带知识库的微型计算机控制策略，介绍了两级微机控制系统的软件和工作框图。

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Later, the control strategy and the software have been designed, the primary target is to get the assisting table, assisting torque of the motor and PID control of the current.

随后进行了控制策略和控制软件的设计，完成了助力表、电机目标转矩和电机电流的PID控制。

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