File:Position servo and signal flow graph.png

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File:Position servo and signal flow graph.png - Wikipedia

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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	8 March 2011
Source	Own work
Author	Constant314

Licensing

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File history

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	Date/Time	Dimensions	User	Comment
current	15:18, 19 March 2011	3,189 × 2,101 (318 KB)	Constant314	Added second axis to load.
	01:23, 16 March 2011	3,189 × 2,101 (295 KB)	Constant314	slight repositioning of labels for better visibility
	17:57, 15 March 2011	1,021 × 673 (61 KB)	Constant314	added label to unlabeled node
	18:40, 12 March 2011	3,189 × 2,101 (294 KB)	Constant314	Intentional feedback changed to dotted lines.
	04:08, 12 March 2011	3,189 × 2,101 (277 KB)	Constant314	trying reduced resolution
	04:07, 12 March 2011	6,376 × 4,201 (810 KB)	Constant314	attempting to reload an error free version
	03:56, 12 March 2011	6,376 × 4,201 (810 KB)	Constant314	accidently included unintended material
	03:53, 12 March 2011	7,089 × 7,701 (1.54 MB)	Constant314	Added labels to the loops
	04:12, 10 March 2011	3,189 × 2,101 (264 KB)	Constant314	Made more compact.
	03:59, 10 March 2011	3,114 × 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