TMS320F28335, which processes the collected data and sends control instruction, is used as controller in this scheme. TMS320F28335 captures high-speed pulse signals of Hall elements Hl, H2, H3 in DC motor by means of three I/O ports, and detects the position of rotor’s rotation, so as to change the current value of PWM signal and control the speed and direction of rotation. The encoder signals of motor A, B are captured by CAPl and CAP2 ports in TMS320F28335, by comparing the value of the captured two-phase pulses A, B, the current status and speed of motor are determined consequently. The system structure is shown