说明：  单片机为PIC18F252，编程语言为PIC系列C语言。功能为控制电动车无刷直流电机。实现正反转、PI调速、各类保护等功能。根据单片机的特点设计了系统的控制策略：利用PIC单片机的引脚电平中断控制电机的换相，根据霍尔信号输出6路控制信号驱动电机旋转；利用AD转化功能检测手柄电压，实现给定速度检测，保证响应速度；实现电机正反转转换、启动防冲车、欠压重启电压限制等功能；制定了多项电机保护措施，实现了过流保护、过压保护、欠压保护、过热保护等功能
(The controlling strategy has been designed based on the characteristic of PIC18 MCU: Use interrupt-on-change function of PB pins to control the change of phase. According to the Hall signals, PIC produces 6-channel outputs to keep motor running Use AD converter module to carry out handle-voltage conversion function Develop various protective programmes for the motor. Achieve over-current, over-voltage, low-voltage, over-temperature protection functions. )