说明：  实现了永磁同步电机（PMSM）的双闭环控制，转速环和电流环均采用PI控制，调速性能良好，转速波形和力矩波形也不错。
(The double closed-loop control of permanent magnet synchronous motor (PMSM) is realized. The speed loop and current loop are controlled by PI. The speed regulation performance is good, and the speed waveform and torque waveform are also good.)