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PMSM电流环好使,但速度环不好使



   你好,我用的是TI的例程,做有传感器控制,现在是电流环闭环后电机可以正常运转,而且这时通过编码器观测到的角度信号与程序中算出的角度信号一样,但加上速度环后电机就不转了,请问这种问题该怎么解决?