求看下我翻译的一段话有无语法问题

求看下我翻译的一段话有无语法问题
本文首先介绍了ESP的基本结构,阐述了其工作原理以及动力学模型.以16位的Freescale MC9S12XS128单片机为核心,对其最小系统以及ESP的控制器外围扩展电路进行了介绍,并设计了ESP的控制程序,绘制了各程序的流程图.本文先对涉及ECT、AD转化、CAN收发、PWM等模块的子程序进行设计,包括轮速采集程序,CAN接收程序,制动管路压力采集程序.设计的采集程序中,用PWM输出模拟车速和制动管路压力的矩形信号,并用CAN逻辑分析仪发送模拟车辆状态信息信号给ECU.然后将各个子程序整合,对程序采集的数据进行数学处理.最后通过对四个车轮制动管路的进出油电磁阀的开关的控制来改变四个车轮的制动压力,来改善汽车的转向不足或转向过多.
This paper introduces the ESP’s basic construct in the first place, illuminating its principle of operation and the dynamical model. It introduces the minimum system and the controller external expansion circuit of ESP, designs the controlling program and draws the flow chat of each programs based on a 16 bits Freescale MC9S12XS128 single-chip microcomputer. First of all the paper designs the subprogram of modules reference to ECT, AD converting, CAN sending and receiving and PWM, which includes wheel speed collecting program, CAN receiving program and square wave signal of the pressure of the braking pipes collecting program. The programs use PWM output the analog velocity of the vehicle and the square wave signal of the pressure of the braking pipes, sending signal of analog vehicle state to ECU with the CAN logical analyzer. Then combine each subprograms together, processing the data which collected by programs in a mathematical way. Finally, it can change the braking force of each wheel through controlling the switch of input and output oil electromagnetic valve to modify vehicle’s understeer or oversteer.

1.CAN sending and receiving and PWM 去掉前一个and,以逗号代替；
2.The programs use PWM output the analog velocity 中use是动词,那么output的词性?
3.Then combine 注意,combine前面缺少主语
4.the data which collected by programs 中去掉which 或者在which 后加is
5.input and output oil electromagnetic valve 中input and output与oil之间似乎缺少一个介词
初步看一下,以上语法点似乎要注意.祝愉快!