File:Position servo and signal flow graph.png
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[edit]DescriptionPosition servo and signal flow graph.png |
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
[edit]I, the copyright holder of this work, hereby publish it under the following license:
This file is made available under the Creative Commons CC0 1.0 Universal Public Domain Dedication. | |
The person who associated a work with this deed has dedicated the work to the public domain by waiving all of their rights to the work worldwide under copyright law, including all related and neighboring rights, to the extent allowed by law. You can copy, modify, distribute and perform the work, even for commercial purposes, all without asking permission.
http://creativecommons.org/publicdomain/zero/1.0/deed.enCC0Creative Commons Zero, Public Domain Dedicationfalsefalse |
File history
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Date/Time | Thumbnail | Dimensions | User | Comment | |
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current | 15:18, 19 March 2011 | 3,189 × 2,101 (318 KB) | Constant314 (talk | contribs) | Added second axis to load. | |
01:23, 16 March 2011 | 3,189 × 2,101 (295 KB) | Constant314 (talk | contribs) | slight repositioning of labels for better visibility | ||
17:57, 15 March 2011 | 1,021 × 673 (61 KB) | Constant314 (talk | contribs) | added label to unlabeled node | ||
18:40, 12 March 2011 | 3,189 × 2,101 (294 KB) | Constant314 (talk | contribs) | Intentional feedback changed to dotted lines. | ||
04:08, 12 March 2011 | 3,189 × 2,101 (277 KB) | Constant314 (talk | contribs) | trying reduced resolution | ||
04:07, 12 March 2011 | 6,376 × 4,201 (810 KB) | Constant314 (talk | contribs) | attempting to reload an error free version | ||
03:56, 12 March 2011 | 6,376 × 4,201 (810 KB) | Constant314 (talk | contribs) | accidently included unintended material | ||
03:53, 12 March 2011 | 7,089 × 7,701 (1.54 MB) | Constant314 (talk | contribs) | Added labels to the loops | ||
04:12, 10 March 2011 | 3,189 × 2,101 (264 KB) | Constant314 (talk | contribs) | Made more compact. | ||
03:59, 10 March 2011 | 3,114 × 2,401 (278 KB) | Constant314 (talk | contribs) | {{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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