在电流环中引入了一组电流交叉乘积项计算出准确的轴电压控制值，实现控制系统在较宽的速度范围内满足较高的控制精度。
By adopting the new design of circuit loop with cross-multiplying terms, the precision of voltage and speed controlled will be enhanced in a wider speed range.
顺便说一下，这里这个-号实际上和，我们做交叉乘积的时候的方法是有联系的，我们在算第二项前面是-号。
By the way, this minus sign here is actually related to the way in which, when we do a cross product, we have a minus sign for the second entry.
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