On control, speed closed loop controlling based PID is utilized and the stable run of motor is realized.

在控制方法上采用基于PID方法的速度闭环控制，实现了电机的稳定运转；

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Double closed loop control is implemented with increment encoder through signal of speed and position.

采用增量式编码器，通过速度及位置信号进行双闭环控制。

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By this linearization model, the speed tracking control law is designed to increase the celerity of speed tracking while keeping the whole closed loop system stable.

通过此方法设计的速度跟踪控制，在保证整个闭环系统稳定的情况下，提高速度跟踪的快速性。

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