Fig. 1. Resistance connection method

Fig. 2. Inverse electromotive force waveform of motor three-phase winding

Fig. 3. Output signal of Hall sensor with phase difference of 120 electric angles

Fig. 4. Three phase full bridge drive circuit for brushless DC motor

Fig. 5. Speed PI controller based on anti-windup strategy

Fig. 6. Hardware platform of control system

Fig. 7. Data display interface of servo control system

Fig. 8. Rotate speed response curve when the rotate speed code value is set to 5 (control parametes k_p=60.0，k_i=2.0, PositionSet=5)

Fig. 9. Rotate speed response curve when the rotate speed code value is set to 50 (control parameters k_p=60.0，k_i=2.0, PositionSet=50)

Fig. 10. Curve of the speed step response (control parametes k_p=60.0，k_i=2.0)

Fig. 11. Curve of the position step response (k_p=0.01，k_i=0.02，PositionSet=100)

Fig. 12. Curve of position step response (k_p=0.015，k_i=0.015，PositionSet=1000)