青云翻译

Interrupt service routine extraction and processing of the completion of the sampled values ??of the motor speed, the outer ring pi adjustment subroutine is called to transform the output side of the current digital sample value, inner pid adjustment subroutine is called, update the value of compare

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The interrupt service subroutine in completes the electrical machinery rotational speed the sampling value extraction and processing, the transfer outer ring PI adjustment subroutine, after outputs the side electric current sampling value the digital conversion, the transfer inner rim PID adjustment

Interrupt Service routine at the end of the motor speed sampling value extraction and processing, call outer ring PI sub-program, adjust the output side current sampling value of the digital conversion, call the ring PID adjustment programs, compare register update the value of a series, such as, th

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