146 results about "Position loop" patented technology

The invention discloses a servo parameter adjusting method, device and equipment of a numerical control machine tool, and relates to the technical field of numerical control machine tools. According to the method, the relation between the part contour error and the position loop gain and the relation between the part contour error and the speed feed-forward coefficient are established, so that interpolation control instructions of all axes for machining of a target part can be operated in advance before actual machining of the part, and interpolation control instruction position sequences of all axes and grating feedback position sequences of part machining are synchronously collected; determining a cutter machining path to predict a part contour error; when the part contour error is unqualified, the position loop gain and the speed feed-forward coefficient are adjusted, the following error of each shaft is changed, the following errors of the shafts are mutually coordinated, the part contour error is reduced on the premise that the machining efficiency is guaranteed, and therefore the machining precision is guaranteed, and the machining efficiency is improved.

The invention provides a motor control PID parameter setting method and a motor control system. The method comprises the following steps: calculating a theoretical current loop PID parameter value according to a parameter when a motor is static and a discrete current loop model; performing actual control by using a theoretical current loop PID parameter value, and inputting a given current to a q axis during the actual control so as to obtain a feedback current; a comparison result of the feedback current and the given current is obtained based on multi-point FFT calculation; and based on the comparison result, adjusting the PID parameter value of the current loop until a new comparison result meets a predetermined condition. Theoretical PID parameters are obtained through calculation based on a discrete model, phase and amplitude changes of actual feedback current compared with given current are calculated through FFT, a current loop is adjusted in a self-adaptive mode according to the phase and amplitude changes, and PID parameters of a speed loop and a position loop can be further adjusted. According to the invention, the anti-noise capability of the FFT algorithm is utilized to improve the control precision, and the method is especially suitable for three-closed-loop servo control.

The invention discloses a motor coil press fitting process parameter self-adaptive regulation and control method and device, and relates to the technical field of motor vehicle motor manufacturing. The method comprises the steps that press fitting target parameters including a target termination position and target pressing force are obtained, press fitting is started, actual pressure and displacement values are collected in real time, a process state deduction model is constructed, whether double targets can be met at the same time when press fitting is finished in a current control mode or not is predicted, and an analysis result is output. If the conditions cannot be met at the same time, the predicted pressure deviation value and the displacement deviation value are taken as optimization targets, a process state compensation value is introduced, a multi-target optimization function is constructed to solve a control target weighting coefficient, a press fitting tail-section hybrid controller is reconstructed, output instructions of a position ring and a force ring are fused, and press fitting is executed. According to the invention, synchronous high-precision control of the pressing force and the termination position under material fluctuation and environmental interference is realized, and the adaptability and stability of coil press-fitting processes of various motors such as a new energy automobile driving motor and a household appliance motor are improved.

The invention belongs to the technical field of automobiles, and particularly relates to an electromechanical braking system clamping force multi-closed-loop control method considering nonlinear disturbance. Comprising the following steps of 1, building an electronic mechanical brake actuator model; 2, designing a clamping force ring controller considering the variable stiffness characteristic of the system; 3, designing a position loop controller based on friction model compensation by adopting an inversion sliding mode control method; and 4, designing a current loop controller based on current decoupling, and finally realizing clamping force multi-closed-loop control. The method has higher control precision, faster response speed and stronger robustness, can effectively improve the braking performance of an electronic mechanical braking system, and provides a feasible solution for high-precision control of the braking force of an intelligent automobile.

The invention provides an anti-disturbance unmanned aerial vehicle trajectory tracking control method, system and device and a medium. The method comprises the following steps: establishing a six-degree-of-freedom rigid body dynamic model of a four-rotor unmanned aerial vehicle; selecting an unmanned aerial vehicle feasible trajectory of the kinetic model as an expected trajectory, and introducing a coupling attitude; designing a position loop control law, generating a virtual control force based on a smooth terminal sliding mode control surface, and calculating an actual thrust; designing an attitude loop control law, representing an attitude error based on Lie group SO (3), constructing an attitude tracking controller with a stable global index, and outputting a control torque; constructing a four-order state observer to estimate the angular velocity and the angular acceleration of the coupling attitude, and replacing a true value with an estimated value to participate in control law calculation; thrust and control torque are converted into thrust input of the unmanned aerial vehicle, the unmanned aerial vehicle is driven to track an expected trajectory, and the problems that in trajectory tracking control of the four-rotor unmanned aerial vehicle, dependence on position acceleration measurement is high, noise is amplified through differential derivation, disturbance rejection is weak, and real-time calculation burden is large are solved.

The invention discloses a servo system control method based on frequency domain self-tuning and linear active disturbance rejection, and relates to the technical field of servo control and motor control. Comprising the following steps: based on a mathematical model of a permanent magnet synchronous motor, establishing a double-inertia model suitable for a large-inertia servo system, and constructing an equivalent mathematical expression of an electrical and mechanical transmission system; in a three-stage cascade control architecture composed of a current loop, a speed loop and a position loop, the current loop is used for current adjustment, the speed loop is used for dynamic response adjustment, and the position loop is used for displacement target tracking. Based on a frequency domain performance index and a rule method, PI controller parameters of a speed loop and a position loop are set respectively, and the frequency domain index comprises an open-loop cut-off frequency and a phase margin; and establishing a frequency domain equivalent mapping relation between the PI controller and the LADRC controller. The method has the advantages that the method does not depend on accurate modeling and manual interference, automatic parameter setting can be achieved, non-overshoot dynamic response is achieved, and the remarkable disturbance suppression capacity is shown.

The invention discloses a DSP-based motor control system and control method, and relates to the technical field of motor control. The method comprises the following steps: acquiring armature voltage and current signals, and preprocessing the voltage and current signals; a motor position signal is collected, and position information is calculated according to the motor position signal; a position loop is generated according to the position information, a current loop is generated according to the current signal, error calculation is carried out on two independent CPU cores by adopting a dynamic task allocation method based on double-closed-loop control of the current loop and the position loop, the CPU core 2 runs a control algorithm to carry out error calculation, and the CPU core 2 runs a control algorithm to carry out error calculation. The CPU core 1 performs external communication and performs task supervision and distribution based on a dynamic task distribution method; and generating a modulation signal according to the calculated error, and controlling the motor by using the modulation signal. According to the invention, a separation control algorithm is combined with external communication, so that the precision and speed of motor control are fully improved.

The invention relates to the technical field of motor control, and discloses a chip mounter Z-axis linear motor module end-process force control method, a driver, a medium and a method, and the method comprises the following steps: S1, after a preset end-process position is reached, motor control is switched from position loop control to speed loop control, so that a motor keeps uniform motion; s2, monitoring whether a real-time current value fed back by the motor reaches a threshold current Iset1 or not and maintaining the real-time current value for a preset time length; s3, if the real-time current value reaches Iset1 and is maintained for a preset time length, continuously monitoring whether the real-time current value reaches a threshold current Iset2 and is maintained for a preset time length; and S4, if the real-time current value reaches Iset2 and is maintained for a preset time length, judging that collision occurs. According to the scheme, the speed ring is adopted to control the motor to move at a constant speed to carry out precise force control, meanwhile, the dynamic current threshold value is set to carry out two times of collision detection, collision detection is achieved while force control is carried out, a sensor does not need to be additionally used, and the requirements for mounting precision and compact structure are met.

The invention provides a permanent magnet synchronous linear motor, a control system and a position resolving method thereof, and relates to the technical field of motor control. The method comprises the following steps of: firstly, equidistantly arranging at least two pairs of linear Hall sensors with an electrical angle difference of 90 degrees and overlapped detection intervals along a stator, and acquiring orthogonal voltage to calculate an instantaneous position angle; the sensor pairs are dynamically switched through peak judgment and spliced to obtain the full-stroke continuous absolute position, and the instant speed is obtained through difference; the position and the speed are respectively input into a position loop, a speed loop and a current loop, and vector closed-loop control is realized by driving an inverter through SVPWM, so that high-resolution position and speed feedback is provided in the whole stroke, and the dynamic response and positioning precision of the linear motor are remarkably improved.

The invention relates to an input-limited multi-robot preset performance consistency double-loop coupling tracking control method based on dynamic target online detection, and belongs to the field of multi-robot cooperative control. Aiming at the problems that the cooperative sensing performance is reduced due to communication time delay in dynamic target detection and the control precision is insufficient under input saturation constraint, the method comprises the following steps: 1, a dynamic target on-line detection algorithm is provided, a near-end operator is fused to process a non-micro-regularization item, a virtual buffer time delay compensation mechanism is constructed, and the detection precision under noise interference is improved; 2, a position-speed double-loop coupling controller and a position loop convert a preset performance constraint into an unconstrained error through a barrier function, a reference speed is generated in combination with reinforcement learning, a speed loop designs a nonlinear anti-saturation compensator to separate a saturation component, and a neural network approximates the uncertainty and interference of a model so as to obtain a position-speed double-loop coupling controller; and solving the optimal control law through an execution-evaluation network framework. According to the invention, robust tracking control under high-precision collaborative perception and input saturation of a dynamic target is realized.

The invention discloses a near-submarine robot disturbance observation controller and method based on neural network correction, and the controller consists of three parts: 1) a disturbance observer with RBF neural network correction, which is used for monitoring and compensating external disturbance in real time; the double-closed-loop integral sliding mode controller comprises a position ring and a speed ring and generates control torque according to expected and actual positions to guide navigation of the near-submarine robot; and 3) the comparator combines the outputs of the two, realizes accurate interference compensation by comparing the control torque with the disturbance estimation, and finally outputs the control torque containing the interference compensation. According to the method, under the condition that speed information is unobservable, the control precision and the anti-interference capability are improved by intelligently estimating modeling errors and external disturbance, and high-precision heading, pitch angle and depth control is achieved.

The invention provides a six-rotor unmanned aerial vehicle position-attitude layered composite adaptive sliding-mode control method, which comprises the steps of introducing a terminal sliding-mode robust controller into a position loop to realize finite time convergence of a system state, and performing real-time compensation on unknown disturbance and modeling uncertainty through a sliding-mode adaptive rate. The quick response and anti-interference capability of a complex track are improved; superspiral sliding mode control is adopted in an attitude ring, sliding mode gain is adjusted in real time through an adaptive law, a controller is made to automatically match flight state changes, and attitude stability and robustness are enhanced; and meanwhile, a position signal output by the position controller is converted into a specific attitude angle reference by utilizing an attitude resolving module, so that hierarchical cooperative control of the position and the attitude is realized. Compared with traditional PID and SMC controllers, the method is faster in convergence and higher in tracking precision, has stronger adaptivity and robustness to external disturbance and parameter uncertainty, and can significantly improve the motion control performance of the six-rotor unmanned aerial vehicle in complex environments and tasks.

The invention discloses an aircraft performance constraint compliance control method for contact type nondestructive testing, and belongs to the field of aircraft control. The implementation method comprises the following steps: introducing a saturated contact force controller into a position ring, and dynamically adjusting a confidence factor based on a position error to adaptively adjust normal rigidity and tangential flexibility; a zero-order control barrier function ZOCBF restrains the force controller, a three-dimensional dynamic safety boundary is established by using a sampling data mechanism, and the position, speed and contact force of the unmanned aerial vehicle are optimized and limited through quadratic programming; designing a hybrid torque controller in the attitude ring, and dynamically selecting a balance point through a binary logic switching strategy; the controller performs safety limitation on the attitude and angular velocity of the unmanned aerial vehicle in combination with zero-order control obstacle function constraint; monitoring a quaternion scalar component symbol in real time by defining a manifold switching set and a jump set; by fusing position loop and attitude loop control logic, compliance control during contact-type nondestructive testing of the unmanned aerial vehicle is realized.

A magnetic suspension pump anti-disturbance control method comprises the steps that torque current, rotor angle and suspension current of a magnetic suspension pump are given according to a certain step length, suspension force under corresponding conditions is measured, and the corresponding relation among the torque current, the rotor angle, the suspension current and the suspension force is recorded; fitting the corresponding relation into a conversion formula or summarizing the corresponding relation into a table, and setting the table in a force / current conversion module; designing a suspension position loop module based on an improved active-disturbance-rejection control method added with magnetic suspension pump key information; setting parameters of a state observer and a controller in the suspension position ring module; the force / current conversion module is combined with the suspension force instruction, the rotor angle and the torque current to generate a current instruction, and suspension winding current is generated through the current closed-loop module and output to the magnetic suspension pump; and judging whether the impeller returns to the center balance position or not, and if not, continuing to adjust until the impeller returns to the center balance position and is stably suspended. According to the invention, the problem of unstable suspension displacement caused by sudden load change of the magnetic suspension pump is solved.

The invention discloses a periodic synchronous position interpolation control method and system for a servo driver, and relates to the technical field of servo control, and the method comprises the steps: receiving a synchronous position instruction at a fixed bus period, and recording a theoretical / actual arrival timestamp of the synchronous position instruction; converting the instruction into a position increment and storing the position increment into a buffer; calculating a cache saturation index reflecting instruction stream supply and demand balance in real time; based on the index and the change trend, dynamically calculating and smoothly adjusting a next position loop sampling period through a feedback control model; position loop processing is triggered in the post-adjustment period. According to the invention, by monitoring the instruction stream state and adaptively adjusting local processing, the influence caused by master and slave clock skew and network jitter is compensated, and continuous and uniform instruction input is ensured to be always obtained by a position ring, so that high-stability and high-precision motion control under bus communication is realized, and the anti-interference capability and the synchronization performance of the system are improved.

The invention discloses a three-axis modulation inertial navigation decoupling control method which comprises the following steps: establishing a three-axis modulation inertial navigation dynamic model which comprises inter-axis coupling torque and equivalent rotational inertia disturbance torque; obtaining the rotational inertia of the inner ring, the middle ring and the outer ring of the three-axis modulation inertial navigation along each axis; the rotation angles of the inner ring, the middle ring and the outer ring are obtained in real time, and angular acceleration is obtained through differential; according to the dynamic model, the rotational inertia, the rotation angle and the angular acceleration, inter-axis coupling torque and equivalent rotational inertia disturbance torque are obtained through calculation; compensating the calculated inter-axis coupling torque and equivalent rotational inertia disturbance torque, and changing the dynamic model into a first-order linear model, so that the three-axis modulation inertial navigation system is changed into a decoupling linear system; and finally, carrying out closed-loop control on the three-axis inertial navigation through a position loop-speed loop-current loop three closed-loop control structure. The control complexity can be reduced, and the system stability can be improved.

The invention relates to the technical field of bolt tightening robot control, in particular to a wind turbine generator bolt tightening robot control method and related equipment.The method comprises the steps that torque, position and motor rotating speed data of a bolt tightening robot are obtained in real time, and the data serve as feedback signals to be input into a three-closed-loop control framework to generate a control instruction; the architecture comprises a current loop, a position loop and a speed loop, the current loop and the position loop adopt a PID control algorithm, and adjusting signals are generated according to torque and position data; and the speed ring adopts a BPFN-PID control algorithm to perform fuzzification processing on motor rotating speed data to obtain an initial speed instruction, and then a PID speed control instruction is updated in combination with target rotating speed self-learning to finally obtain an optimal speed control instruction, so that accurate control on the bolt tightening robot is realized.

The invention discloses a model prediction direct position control method based on point-to-point trajectory planning, and belongs to the technical field of motor control. The method comprises the following steps: measuring a three-phase current signal, a rotating speed signal and a position signal of the PMSM; converting the three-phase current signal into a current component under a two-phase static coordinate system through Clark conversion; performing Park transformation to obtain a d-q coordinate system current signal; and performing voltage prediction to generate a d-q axis voltage control signal. Planning a target curve trajectory; and performing online prediction and rolling optimization. According to the invention, bandwidth limitation of a traditional cascade structure is broken through, position loop time delay is reduced, speed oscillation and position overshoot near a target positioning point are suppressed, stability of a control system is improved, multi-target collaborative optimization of position, rotating speed and current is realized, and economical efficiency and engineering practicability are both realized.

The invention relates to the technical field of robot control, in particular to a magnetorheological damper-based flexible landing control method for a hydraulic leg unit, which comprises the following steps of: S1, establishing a rigid-flexible coupling dynamic model, optimizing parameters, and simplifying a landing process into a mass-spring-damping system; the hydraulic cylinder is equivalent to a spring module, the magneto-rheological damper is equivalent to a variable damping module, and the optimal landing track and the optimal rigidity and damping parameters are obtained by minimizing the foot end impact force; s2, decomposing the optimal trajectory into joint target displacement through an inverse kinematics model; and S3, position and force double closed-loop control is conducted on the hydraulic damping actuator, displacement is tracked by the position outer loop control hydraulic cylinder, damping force is output by the force inner loop control magnetorheological damper, the intervention and quit time of the hydraulic damping actuator is decided, the damping force is dynamically distributed, and actual force signals are fed back to correct target displacement. The method realizes flexible landing, reduces impact, gives consideration to control precision and energy consumption, adapts to multiple terrains and prolongs the service life of equipment.

The application discloses a kind of redundancy servo systems based on nested screw drive, comprising: control computer, first / second redundancy branch chain, differential mechanism, position feedback mechanism and external load;First / second redundancy branch chain includes: first / second control module, first / second servo controller, first / second power driver, first / second servo motor, first / second rotary transformer, first / second brake, first / second reducer and first / second screw drive mechanism;Differential mechanism is connected with external load, differential mechanism directly bears the load situation introduced by external load, environmental condition situation;Position feedback mechanism is connected with differential mechanism, and the motion displacement signal of differential mechanism is collected by position feedback mechanism, and motion displacement signal is simultaneously fed back to first / second servo controller, to realize first / second control module position loop closed-loop control further.This application is in the consideration of system structure, volume weight index requirement, and greatly improves the reliability of system.

The application belongs to the technical field of automobiles, and particularly relates to a multi-closed-loop control method for clamping force of an electromechanical brake system considering nonlinear disturbance. The method comprises the following steps: step one, building an electromechanical brake actuator model; step two, designing a clamping force loop controller considering the variable stiffness characteristics of the system; step three, designing a position loop controller based on friction model compensation by using an inversion sliding mode control method; and step four, designing a current loop controller based on current decoupling, so as to finally realize multi-closed-loop control of the clamping force. The application has higher control precision, faster response speed and stronger robustness, can effectively improve the braking performance of the electromechanical brake system, and provides a feasible solution for high-precision control of braking force of an intelligent automobile.

The present invention relates to the field of servo motor control technology, and in particular to an oscillation suppression control method and system for use in a servo control system. The oscillation suppression control method comprises the following steps: S1: obtaining an encoder feedback position jitter value range of (-R, R) when the servo motor is stationary; S2: obtaining a first position error value E when the servo motor is running, the first position error value E being the difference between the accumulated value of the command position increment input by the user and the accumulated value of the feedback position increment fed back by the encoder; S3: calculating an absolute dead zone range and a second position error value based on the acquired feedback position jitter value range and the first position error value, and inputting the second position error value into a position loop. The method can reduce the motor position fluctuation at rest while maintaining the rigidity of the servo control system unchanged, and suppress the motor oscillation problem generated by the motor in a stationary locked shaft state.

The present invention discloses a method, apparatus, device, and storage medium for detecting the performance of a motor encoder. The method includes: controlling a machine tool to run a preset distance at a plurality of target speeds; obtaining speed and displacement data generated by the machine tool running at each target speed; and determining, based on the speed and displacement data, whether the motor encoder has a performance problem of uneven output pulses. This solution detects encoder performance, which is often overlooked, and can help avoid ineffective adjustments to speed and position loop parameters during current machine tool debugging. This can improve the efficiency and accuracy of machine tool debugging, and eliminates the need for high-voltage power, reducing debugging risks.

The invention discloses a servo motor PID position pointing smooth optimization method based on acceleration feedback, and belongs to the technical field of motor control. The method comprises the following steps: acquiring PID parameters, a motor target position and in-place preset time; determining an acceleration section, a deceleration section and an adjustment section in the travel according to the starting point and the target position; executing acceleration section three-loop PID control, and adjusting a position loop command value according to acceleration feedback; executing deceleration section three-ring PID control, and adjusting a position ring command value according to acceleration feedback; adjusting section PID control is executed, and the position loop command value is kept at the final position; according to the invention, the position ring command value during execution of each position ring can be dynamically adjusted according to real-time acceleration measurement and calculation, so that the movement speed of the motor from the initial position to the final position is ensured to be a smooth acceleration-first deceleration-second movement curve; the target position is approached at a low speed, so that the position, speed overshoot and in-place position fluctuation can be effectively reduced, and the pointing precision of the servo motor is remarkably improved.

This invention discloses a fixed-time control method for a rotary-wing unmanned aerial vehicle (UAV) in unknown environments. The steps are as follows: 1. Constructing a nonlinear system model of the UAV's position loop and attitude loop, simultaneously considering system uncertainty, output constraints, and unknown external disturbances; 2. Designing a safe desired tracking signal, obtaining the remaining desired signals through inverse kinematics, calculating the errors of the position loop and attitude loop, and designing a barrier Lyapunov function based on the characteristics of the nonlinear system model of the UAV's position and attitude loops, and selecting appropriate upper and lower bounds; 3. Designing a tracking controller based on the barrier Lyapunov function, combined with a fuzzy logic system, a fixed-time disturbance observer, a filter, and an adaptive backstepping method. This invention has the advantage of enabling a rotary-wing UAV to track a preset desired tracking signal within a fixed time while ensuring system safety and stability, under the influence of output constraints, system uncertainty, and unknown external disturbances.

The invention relates to a flexible joint system control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a basic proportional gain of a position ring in the flexible joint system, and a current load rotational inertia and a current output torque of the flexible joint system; querying a target load compensation gain matched with the current load rotational inertia and a target torque compensation gain matched with the current output torque; wherein the target load compensation gain and the target torque compensation gain are control gains which enable the bandwidth corresponding to a preset amplitude-frequency characteristic curve of the flexible joint system to be maximum and the resonance peak value of the preset amplitude-frequency characteristic curve to be within a preset amplitude range; and controlling the flexible joint system according to the target load compensation gain, the target torque compensation gain and the basic proportional gain. By adopting the method, the flexible joint system can be accurately controlled.

The invention discloses a three-axis holder permanent magnet synchronous motor control method based on an approaching law, and belongs to the technical field of permanent magnet synchronous motor control. According to the method, a composite control strategy of a novel reaching law and a sliding mode disturbance observer (SMC + SMO) is adopted in a speed loop, and a traditional PI controller is adopted in a current loop and a position loop. The novel reaching law fuses elements such as an index item and a terminal item, buffeting is restrained, and the response speed is increased; the sliding mode disturbance observer estimates and compensates interference in real time, and the anti-interference capability is enhanced. Experimental results show that the strategy is fast in rotating speed step response, small in angle step response overshoot and high in anti-jamming capability, and fast response, stability and robustness of the three-axis holder are guaranteed. According to the invention, an effective way is provided for high-precision control of the airborne holder of the unmanned aerial vehicle.

The application provides a method, device and system for adjusting control parameters of a robot, the method comprising: obtaining a displacement waveform of the robot collected by a displacement sensor, the displacement sensor being installed on an edge point of the robot, the edge point of the robot being an intersection between a movement direction of the robot and a shell of the robot; determining whether overshoot exists in the displacement waveform; and adjusting a position loop gain to a product of a preset multiple and a current position loop gain to reduce a probability of overshoot appearing again in the displacement waveform after a current time, in a case where it is determined that overshoot exists in the displacement waveform. The application solves the problem that the actual displacement error of the robot exceeds a tolerance error range due to a large difference between a position waveform of a robot end and a position waveform of a motor end under the same condition, and the position waveform of the motor end cannot fully reflect the actual operation of the robot.

The invention discloses a control method and system of a microgravity ground test system and a storage medium, relates to the technical field of robot control, and aims to solve the problem that pose tracking errors are accumulated due to the fact that an existing suspension method is difficult to adapt to real-time compensation requirements under high-frequency dynamic motion. Comprising the following steps: step S100, acquiring image information through a binocular camera, correcting radial distortion and tangential distortion of an image acquired by the binocular camera, and detecting target motion attitude and position information by adopting an AprilTag visual reference library; and S200, on the basis of the motion posture and position information obtained through detection, closed-loop control is conducted on horizontal motion of the robot through three-loop control of a current loop, a speed loop and a position loop, a dynamic distortion compensation mechanism is introduced to reduce the influence of motion of the robot or external disturbance, and the motion speed is controlled through an inter-frame difference method. According to the invention, various complex and dynamic tasks of the robot can be stably and reliably completed in a matched manner.

The present invention relates to a FPGA-based two-dimensional scanning mirror control method and system. The method comprises: obtaining a reference signal, a position signal of a one-dimensional MEMS micromirror, and an encoder signal of a regulating motor; inputting the encoder signal into a first processing core; inputting the position signal into a second processing core; the first processing core performing position and velocity loop calculations using a vector control algorithm to obtain a voltage signal for driving the regulating motor; and the second processing core performing operations using a superhelical controller and a superhelical observer to obtain a voltage signal for driving the one-dimensional MEMS micromirror, thereby driving the one-dimensional MEMS micromirror and the regulating motor to perform an oscillatory operation. The present invention achieves the function of a two-dimensional scanning mirror through the one-dimensional oscillation of the MEMS micromirror and the interval oscillation of the motor, resulting in a larger scanning angle and a higher scanning frequency. Furthermore, the present invention utilizes an FPGA controller and two interrupt modes, deploying motor control and MEMS control on different CPUs, reducing system latency and achieving better control effects.