Check first, when it is empty, is the given speed fluctuation great?
The purpose of this is to distinguish between a given speed fluctuation or a poor control of the device itself?
If it is a given speed fluctuation, then start from the plc given speed;
If the control of the device itself is poor and the resulting speed fluctuation is large, start with the pi parameter of the current loop/speed loop;
If the control of the device itself is poor, the preliminary judgment is that the current loop pi is not properly set or the current detection is disturbed.
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