Decoupling Control Modes
- Updated2023-12-28
- 2 minute(s) read
Decoupling Control Modes
Refer to the following flowcharts for an explanation of the decoupling control modes. For clarity, the abbreviations for the PAtools norm names used in the flowchart are listed in the tables that precede the figure.
Control Mode <input: torque | outputs: speed>
| Name in Chart | PAtools Norm Name | Description |
|---|---|---|
| n_out1_mv | CSF3EM_speed_output_left.AV | Measured speed output left |
| n_out2_mv | CSF3EM_speed_output_right.AV | Measured speed output right |
| n_out_mean_tv | CSF3EM_speed_output_mean_from_outputs.OUT.TV | Target mean output speed |
| dcpl_k_M_in | CSF3EM_decoupling_input_torque_controller_gain.SP | Input torque controller decoupling gain |
| dcpl_MCtrl_M_in | CSF3EM_decoupling_input_torque_controller_torque.OUT.CV | Decoupling torque control output for input torque controller |
| M_in_tv | CSF3EM_torque_input.TV | Target torque input |
| M_out_total_tv | CSF3EM_torque_output_total_from_outputs.OUT.TV | Target total output torque |
| dcpl_k_n_out | CSF3EM_decoupling_output_speed_controller_gain.SP | Output speed controller decoupling gain |
| dcpl_nCtrl_M_out1 | CSF3EM_decoupling_output_left_speed_controller_torque.OUT.CV | Decoupling torque control output for output 1 speed controller |
| dcpl_nCtrl_M_out2 | CSF3EM_decoupling_output_right_speed_controller_torque.OUT.CV | Decoupling torque control output for output 2 speed controller |
Control Mode <input: speed | outputs: torque>
| Name in Chart | PAtools Norm Name | Description |
|---|---|---|
| M_out1_tv | CSF3EM_torque_output_left.TV | Target torque output 1 |
| M_out2_tv | CSF3EM_torque_output_right.TV | Target torque output 2 |
| M_out_total_tv | CSF3EM_torque_output_total_from_outputs.OUT.TV | Target total output torque |
| dcpl_k_n_in | CSF3EM_decoupling_input_speed_controller_gain.SP | Input speed controller decoupling gain |
| dcpl_nCtrl_M_in | CSF3EM_decoupling_input_speed_controller_torque.OUT.CV | Decoupling torque control output for input speed con- troller |
| n_in_tv | CSF3EM_speed_input.TV | Target speed input |
| n_out_mean_tv | CSF3EM_speed_output_mean_from_input.OUT.TV | Target mean output speed |
| dcpl_k_M_out | CSF3EM_decoupling_output_torque_controller_gain.SP | Output speed controller decoupling gain |
| dcpl_MCtrl_M_out1 | CSF3EM_decoupling_output_left_torque_controller_torque.OUT.CV | Decoupling torque control output for output 1 torque controller |
| dcpl_MCtrl_M_out2 | CSF3EM_decoupling_output_right_torque_controller_torque.OUT.CV | Decoupling torque control output for output 2 torque controller |
