Brushless motor propulsion control the ROV posture and movement
Have to cascade PID control of posture and movement, output the body coordinates three direction of the force and moment, and then assigned to the propeller is converted into rotational speed,
At this time also think of brushless motor speed closed loop, but feel it again for the actual speed, and single chip microcomputer control PWM output to control the brushless electric adjustment and speed control was not absolutely accurate,
So, at this time of brushless motor closed-loop significance is bigger?