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研究了利用谐波反电势信号实现混合式步进电动机速度闭环控制的方法。分析了谐波反电势信号的构成，设计了相应的位置信号检测电路及步进电动机的微机控制系统。在此基础上通过控制超前角实现对电视转速的控制，给出了数字PID调节器的算法程序。通过开、闭环运行的对比实验验证了利用谐波反电势实现混合式步进电动机闭环控制的可行性。
The method of realizing closed-loop speed control of hybrid stepping motor by using harmonic back EMF signal is studied. Analyzed the composition of the harmonic back EMF signal, designed the corresponding position signal detection circuit and the microcomputer control system of the stepper motor. On this basis, through the control of lead angle to achieve the control of the TV speed, gives the digital PID regulator algorithm program. The feasibility of closed-loop control of hybrid stepping motor by harmonic back EMF is verified by comparative experiments of open and closed loop operation.