光电编码器测得的电机速度反馈信号反馈到单片机中。电机设定速度由ZLG7289模块获得，通过SPI通信传输给单片机。单片机系统根据给定的转速与反馈回来的实际速度相减得出偏差，经过控制算法得出控制量。单片机再把控制量以PWM的形式输出，经过L298功率放大驱动直流电机。ZLG7289模块主要用于显示当前直流电机实际转速和给定转速，并让用户通过键盘输入设定速度。(The motor speed feedback signal measured by the photoelectric encoder is fed back to the single chip microcomputer. The setting speed of the motor is obtained by the ZLG7289 module and transmitted to the microcontroller through SPI communication. The single-chip microcomputer system gets the deviation according to the actual speed subtracted from the given speed and feedback, and gets the control quantity through the control algorithm. The microcontroller output the control volume in the form of PWM, and drive the DC motor through L298 power amplification. ZLG7289 module is mainly used to display the actual speed and given speed of the current DC motor, and let the user input the set speed through the keyboard.)