在预定航路基础上利用时间误差信号生成侧向机动指令，通过航路动态规划，实现对攻击时间的控制。
According to the time error, the yaw maneuvering command was generated and route dynamic planning on the basis of the pre-determined route was done to control the impact time.
但是由于指令周期考虑不全和硬件自身的原因易引起定时误差。
Because instruction period is not completely considered and the hard ware is not perfect, it is easy to cause error.
结合绕组电流进行转矩估算，经过转矩误差pid反馈控制，实现电机输出转矩对转矩给定指令的跟踪。
Utilizing flux linkage and phase current, the output torque is calculated, and PID control is used to decrease torque error.
应用推荐