File:Position servo and signal flow graph.png

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Original file(3,189 × 2,101 pixels, file size: 318 KB, MIME type: image/png)

Summary

Description
English: 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.
Date
Source Own work
Author Constant314

Licensing

I, the copyright holder of this work, hereby publish it under the following license:
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File history

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Date/TimeThumbnailDimensionsUserComment
current15:18, 19 March 2011Thumbnail for version as of 15:18, 19 March 20113,189 × 2,101 (318 KB)Constant314Added second axis to load.
01:23, 16 March 2011Thumbnail for version as of 01:23, 16 March 20113,189 × 2,101 (295 KB)Constant314slight repositioning of labels for better visibility
17:57, 15 March 2011Thumbnail for version as of 17:57, 15 March 20111,021 × 673 (61 KB)Constant314added label to unlabeled node
18:40, 12 March 2011Thumbnail for version as of 18:40, 12 March 20113,189 × 2,101 (294 KB)Constant314Intentional feedback changed to dotted lines.
04:08, 12 March 2011Thumbnail for version as of 04:08, 12 March 20113,189 × 2,101 (277 KB)Constant314trying reduced resolution
04:07, 12 March 2011Thumbnail for version as of 04:07, 12 March 20116,376 × 4,201 (810 KB)Constant314attempting to reload an error free version
03:56, 12 March 2011Thumbnail for version as of 03:56, 12 March 20116,376 × 4,201 (810 KB)Constant314accidently included unintended material
03:53, 12 March 2011Thumbnail for version as of 03:53, 12 March 20117,089 × 7,701 (1.54 MB)Constant314Added labels to the loops
04:12, 10 March 2011Thumbnail for version as of 04:12, 10 March 20113,189 × 2,101 (264 KB)Constant314Made more compact.
03:59, 10 March 2011Thumbnail for version as of 03:59, 10 March 20113,114 × 2,401 (278 KB)Constant314{{Information |Description ={{en|1=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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