There are several points need to improve:
(1) minimum rotational speed down not bottom go to, the slowest to 2 c/s, only want to reduce to about 0.6 degrees/s;
(2) the current limit, because of the speed loop output is directly to the duty ratio, but because of the speed? Ring have integral links, causing the motor to stop after the speed loop output will accumulate to a limit, current is very large, so I am judge motor rotation to the target position, mandatory limits the output of the speed loop, do not know to have people I encountered this kind of situation, I whether this solution is reasonable?
(3) whether you need to add current loop? What are the benefits? But after I feel will limit the current, because a current loop has integral element, current loop integral saturation output will eventually happen,
(4) the total frequency of the whole control system for motor speed control what effect?
is not very good
The above four problems hopes to have bosses to help solve, thank you very much!
CodePudding user response:
Is pulsating torque of the motor at low speed, rotational speed can't accurate control,CodePudding user response:
To be very slow perhaps the reducer under consideration