说明：  永磁同步电机(PMSM)电流转速双闭环PI控制，采用矢量控制（FOC）中的id 0方式，以空间矢量脉宽调制来实现磁链圆跟踪。对负载转矩进行交轴电流前馈以抑制外负载扰动。
(Permanent Magnet Synchronous Motor (PMSM) current double closed loop speed PI control, vector control (FOC) of id 0 mode, space vector pulse width modulation to achieve flux circle track. Front axle load torque AC current fed to suppress external load disturbance.)