142
Chapter 7 – Control Block Diagram
C
O
N
_
13
C
O
N
_
14
C
O
N
_
15
P
ID
P
g
a
in
P
ID
I
g
ai
n
P
ID
D
g
a
in
L
im
it
C
O
N
_1
6
P
ID
o
u
tp
u
t
lim
it
C
O
N
_2
0
P
ID
E
n
a
bl
e
0
F
re
q
/S
p
ee
d
R
ef
.
C
on
tr
o
l s
ec
tio
n
S
p
ee
d*
C
O
N
_2
4
D
ro
o
p
co
n
tr
ol
st
a
rt
in
g
to
rq
u
e
(%
)
0
C
O
N
_
23
D
ro
op
c
o
nt
ro
l
M
in
.
S
pe
ed
D
ro
o
p
c
o
n
tr
o
l s
ec
ti
o
n
L
im
it
-C
_
24
<
O
u
tp
u
t
to
rq
ue
(
%
)
<
C
_2
4
C
O
N
_2
2
D
ro
o
p
co
n
tr
o
l
q
ua
nt
ity
(
%
)
O
u
tp
u
t
to
rq
ue
(%
)
P
ro
ce
s
s
P
ID
c
o
n
tr
o
l
s
ec
ti
o
n
K
P
K
I
K
D
S
p
e
ed
*
C
O
N
_1
1
P
ro
ce
ss
P
ID
R
e
f
P
ID
co
n
tr
ol
le
r
C
O
N
_1
7
LP
F
C
O
N
_
19
G
a
in
I/
O
_1
7
P
ro
ce
ss
P
ID
R
ef
(L
oa
de
r)
P
ro
ce
ss
P
ID
F
/B