The motor brakes are lifted when the turbine is yawing. The yaw brake on the tower axis will be lifted partially but has been assumed fully passive.
当风机偏航时电制动器被提起，塔架轴上的偏航制动器部分提起，但被认定为完全被动方式。
In the controller, the motor Angle was controlled by the feedback of the yaw rate and the sideslip Angle.
调节器中，通过横摆角速度和侧偏角的共同反馈控制助力电机的转角。
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