调试PWM口，及V/F算法,参数辨识程序,磁场定向程序，从转速测量、参数辨识方面改善性能,转速PI调节,电流闭环 使用PI函数,串口SCI控制，ADC、DQ、CLARKE、park变换。Debug PWM port, and V/F algorithm, parameter identification program, magnetic field orientation program, improve performance from speed measurement and parameter identification, speed PI adjustment, current closed loop using PI function, serial SCI control, ADC, DQ, CLARKE, park transform ;