The thesis particularly designed and debugged the hardware and software of the whole system, listed the debugging results and made some discussions. 论文对整个系统的软硬件进行了详细设计和调试，给出了系统调试结果并进行了讨论。
This paper emphasizes the use of windings without slots to reduce the unilateral magnetic pull, the outlines of the controlling system experiment. 给出了样机的实验数据，介绍了采用无槽绕组来降低电动机单边磁拉力以及控制系统调试中应注意的问题。
