Parker EME
Setting up Compax3
192-120101 N11 C3I11T11 November 2007
151
standard cascade structure
K
I
Va
K
pv
K
Kp
,
T
N
Vi
K
Vj
K
Px
K
D
K
T
-
-
-
-
-
T
pv
K
T
Vv
K
68
8
.13
J
e
rk
s
et
po
int
gene
rat
o
r
v
al
u
e
68
2
.4
T
ar
ge
t
A
c
c
e
le
rat
ion
of
s
e
tpo
in
t
g
ene
ra
tor
68
1
.4
T
ar
ge
t
S
pe
ed
of
s
e
tpo
in
t
gene
rat
or
68
0
.4
T
ar
ge
t
P
o
s
it
io
n
68
1
.11
F
ee
d
-F
or
w
a
rd
6
82
.7
A
c
c
el
er
a
ti
on
fe
ed
-f
or
w
a
rd
68
8
.14
C
u
rr
en
t
&
je
rk
fe
e
d
-f
o
rwa
rd
RM
S
68
0
.6
P
o
s
it
ion
T
rac
k
ing
er
ro
r
68
1
.10
T
ar
g
et
s
p
e
ed
68
0
.5
A
c
tu
al
P
os
it
io
n
6
81
.6
S
pe
ed
T
rac
k
ing
er
ro
r
68
1
.9
A
c
tu
al
S
peed
(f
il
te
red
v
a
lu
e
)
68
2
.6
A
c
tua
l
A
c
c
el
er
a
ti
o
n
68
8
.18
A
c
tua
l
q
uad
rat
ur
e
m
o
tor
c
u
rr
e
n
t
r
.m
.s
.(
to
rq
u
e
-p
ro
d
u
c
in
g
)
68
1
.5
A
c
tua
l
s
pe
ed
(un
fi
lt
er
e
d
v
al
ue
)
68
2
.5
A
c
tua
l
A
c
c
e
le
rat
ion
68
8
.19
A
c
tu
al
q
ua
dr
at
u
re
m
o
tor
c
ur
ren
t
r
.m
.s
.(
tor
q
ue
-p
rodu
c
ing
)
68
8
.11
C
u
rr
en
t
c
on
tr
ol
a
c
tu
at
in
g
s
ig
nal
20
1
0
.5
J
er
k
f
e
ed
-f
or
w
ar
d
2
0
10
.4
C
ur
re
nt
f
e
ed
-f
or
w
a
rd
2
0
1
0
.2
A
c
c
e
le
ra
ti
o
n
fe
e
d
-fo
rw
a
rd
201
0
.1
V
el
oc
it
y
f
e
ed
-f
or
w
a
rd
210
0
.7
V
el
oc
it
y
lo
o
p
-
"D
"
te
rm
210
0
.2
V
el
o
c
it
y
loop
S
ti
ff
ne
s
s
210
0
.3
V
el
o
c
it
y
loop
D
a
m
p
in
g
210
0
.2
1
F
il
te
r
-
A
c
tua
l
ac
c
e
le
ra
ti
o
n
2
100
.2
0
F
il
te
r
-
ac
tu
at
ing
s
ign
al
(v
el
oc
it
y
c
o
nt
rol
ler
)
S
e
tpo
in
t
ge
ne
ra
to
r
22
1
0
.17
R
es
pon
s
e t
im
e
of
t
he
v
el
o
c
it
y
loo
p
21
0
0
.8
C
ur
ren
t
loop
-
B
an
d
w
id
th
68
1
.5
A
c
tu
al
s
p
eed
(un
fi
lt
e
red
v
al
ue
)
Actual value monitoring
