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.
改进算法首先对给定的悬浮力和转矩是否能够同时满足进行了判断。
Firstly, the improved method judges whether the needed radial force and the torque can be simultaneously satisfied.
根据外环给定电磁转矩的不同，调整内环转子磁链给定值，以达到能量优化控制的目的。
According to the inner rim rotor flux linkage given value can reach the purpose of the energy optimization control.
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