MAKE A MEME View Large Image Position servo and signal flow graph.png en Angular position servo and signal flow graph θC desired angle command θL actual load angle KP position loop gain VωC velocity command VωM motor velocity sense voltage KV velocity loop gain VIC ...
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Keywords: Position servo and signal flow graph.png en Angular position servo and signal flow graph θC desired angle command θL actual load angle KP position loop gain VωC velocity command VωM motor velocity sense voltage KV velocity loop gain VIC current command VIM current sense voltage KC current loop gain VA power amplifier VM voltage applied to motor inductance L motor inductance IM motor current RM motor resistance RS current sense resistance KM motor torque constant Nm/amp T torque M momment of inertia of all rotating components α angular acceleration ω angular velocity β mechanical damping GM motor back EMF constant GT tachometer conversion gain constant There is one forward path shown in a different color and six feedback loops The drive shaft assumed to be stiff enough to not treat as a spring Constants are shown in black and variable in purple own Constant314 2011-03-08 Cc-zero Electronic diagrams Signal flow graphs Servos Control theory
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