Hierarchical virtual closed-loop control method and system for turntable
A control method and control system technology, applied in the field of layered virtual closed-loop control method and system, can solve problems such as the complexity of multi-loop function nesting and debugging
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[0036] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.
[0037] Such as image 3 As shown, a layered virtual closed-loop control method for the turntable, including:
[0038] S1. Write the closed-loop functions of each loop in the closed-loop system, so that each closed-loop function is layered and independent. The various loops include position loop, speed loop and current loop; specifically, use a function with a return value to write the closed loop of the position loop and speed loop function. In this way, each closed-loop function is hierarchically independent. Here, there is no limitation on the closed-loop function of the current loop. The closed-loop function of the current loop can adopt a traditional closed-loop function without a return value, or can be rewri...
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