**1.** The motor control unit (MCU) has main components:**Electronic controller**

The electronic controller consists of hardware circuit and control software. The hardware circuit mainly contains microprocessor and its minimum system, the detection circuit of motor current, voltage, speed, temperature, all kinds of hardware protection circuit, and the com‐ munication circuit (CAN Bus) with the external control unit like the vehicle controller and battery management system to exchange data. The control software realizes corresponding control algorithm depending on different types of motors. For instance, the strategies of flux weakening control, id=0 control and MTPA control are widely used in PMSM control software.
