Three-loop control characteristics.

1. Position loop: It is the main structural feature of the position follow-up system. Using P adjustment, the higher the gain setting, the shorter the positioning time, and the fast positioning response characteristics can be obtained. And to ensure the steady-state accuracy of the system.

2. Speed loop: Negative feedback composed of rotational speed, the inner loop adopts PI adjustment, and the gain and integral time constant are adjusted to suppress oscillation, reduce overshoot, and improve the rapidity of the system.

3. Current loop: It plays the role of current following, overcurrent protection and timely suppression of voltage disturbance. The current loop gain is determined according to the model and cannot be adjusted manually.

On this basis, the combined control of speed feedforward and feedback control is adopted, which reduces the speed overshoot, adjusts and then aligns the signal jitter, and makes the position offset close to zero. The conversion of other related parameters such as notch filter parameters, vibration suppression filter parameters, and gain parameters achieves noise reduction and vibration suppression. The movement is stable and reliable, which further improves the steady-state and dynamic quality indicators of the system.