针对转速反馈电机控制系统中实际转速与期望转速存在偏差无法绝对消除,造成电机转过的角度误差会随时间累积的问题,提出了一种相位/转速混合控制结构。在转速环路基础上增加了相位环路,通过外部输入一个频率稳定的参考方波信号,由混合环路控制电机转速,达到期望值。同时控制电机转过的角度时刻,跟踪参考方波信号的相位,与其保持同步锁定,从而保证电机转过的角度误差不再随时间累积。具体分析了混合控制结构的设计原理,并通过搭建工程实物电机系统进行验证。在参考方波信号频率为100 Hz的情况下,系统达到的技术指标为：稳定时间≤2 s,稳态时转速精度为6 000±10 r/m,相位差≤±50 μs。

Aiming at the disadvantage that the angle error of motor rotation will increase with time because of the deviation between actual speed and expect speed in the speed feedback motor control system, a control structure combining phase with speed was proposed. A phase loop was added to the speed loop. By inputting a square wave signal to the motor system with steady frequency, the motor speed was controlled by the combinatorial loop circuit to reach the expect speed. The angle of rotation was also controlled to synchronize the phase of the reference square wave signal, so the angle error of motor rotation would not increase with time any more. The combination principle of the scheme was introduced in detail,and an actual motor control system was built for verification. Under the circumstance of 100 Hz square wave signal input, the actual motor control system achieved the following characteristics: stabilization time ≤2 s, speed accuracy in steady state was 6 000±10 r/m, and phase error ≤±50 μs.