该步骤应在主 ISR 中完成。该组件需要在适当的抽取率下调用此函数。抽取率由 spintac_velocity.h 头文件中声明的 ST_ISR_TICKS_PER_SPINTAC_TICK 确定；有关更多信息，请参阅Topic Link Label5.8.1.4。调用 SpinTAC 速度识别函数之前，必须更新速度反馈。另外需要注意，本示例按照图 8-4 的流程图执行步骤，确保系统已准备好进行惯性识别。

CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle; // Get pointer to CTRL object
_iq speedFeedback = EST_getFm_pu(obj->estHandle); // Get the mechanical speed in pu/s
_iq iqReference = 0;
if(gMotorVars.SpinTAC.VelIdRun != false) {
  // if beginning the SpinTAC Velocity Identify process
  // set the speed reference to zero
  gMotorVars.SpeedRef_krpm = 0;
  // wait until the actual speed is zero
  if((_IQabs(speedFeedback) < _IQ(ST_MIN_ID_SPEED_PU))
     && (STVELID_getEnable(stVelIdHandle) == false)) {
     gMotorVars.Flag_enableForceAngle = true;
     EST_setFlag_enableForceAngle(obj->estHandle, gMotorVars.Flag_enableForceAngle);
     // set the GoalSpeed
     STVELID_setVelocityPositive(stVelIdHandle, gMotorVars.VelIdGoalSpeed);
     // set the Torque Ramp Time
     STVELID_setTorqueRampTime_sec(stVelIdHandle, gMotorVars.VelIdTorqueRampTime);
     // Enable SpinTAC Velocity Identify
     STVELID_setEnable(stVelIdHandle, true);
     // Set a positive speed reference to FAST to provide direction information
     gMotorVars.SpeedRef_krpm = _IQ(0.001);
     CTRL_setSpd_ref_krpm(ctrlHandle, gMotorVars.SpeedRef_krpm);
  }
}
// Run SpinTAC Velocity Identify
STVELID_setVelocityFeedback(stVelIdHandle, speedFeedback);
STVELID_run(stVelIdHandle);
if(STVELID_getDone(stVelIdHandle) != false) {
  // If inertia identification is successful
  // update the inertia setting of SpinTAC Velocity Controller
  // EXAMPLE: 
  // STVELCTL_setInertia(stVelCtlHandle, STVELID_getInertiaEstimate(stVelIdHandle));
  gMotorVars.VelIdRun = false;
  // return the speed reference to zero
  gMotorVars.SpeedRef_krpm = _IQ(0.0);
  CTRL_setSpd_ref_krpm(ctrlHandle, gMotorVars.SpeedRef_krpm);
}
else if((STVELID_getErrorID(stVelIdHandle) != false)
        && (STVELID_getErrorID(stVelIdHandle) != ST_ID_INCOMPLETE_ERROR)) {
  // if not done & in error, wait until speed is less than 1RPM to exit
  if(_IQabs(speedFeedback) < _IQ(ST_MIN_ID_SPEED_PU)) {
    gMotorVars.VelIdRun = false;
    // return the speed reference to zero
    gMotorVars.SpeedRef_krpm = _IQ(0.0);
    CTRL_setSpd_ref_krpm(ctrlHandle, gMotorVars.SpeedRef_krpm);
  }
}
// Set the Iq reference that came out of SpinTAC Identify
iqReference = STVELID_getTorqueReference(stVelIdHandle);
CTRL_setIq_ref_pu(ctrlHandle, iqReference);