Torque Difference Limiting Controller

Torque Difference Limiting Controller

Refer to the following flowchart for an explanation of the torque difference limiting controller for output torque controller. For clarity, the abbreviations for the PAtools norm names used in the flowchart are listed in the table that precedes the figure.

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
dn_out12_mv	CSF3EM_speed_difference_output_left_right.AV	Measured speed difference of output left and output right
LCM_dM_ out12_max	CSF3EM_torque_difference_limiting_controller_torque_difference_output_left_right_limit.SP	Torque difference limiting controller torque difference threshold
LCM_dn_ out12_max	CSF3EM_torque_difference_limiting_controller_speed_difference_output_left_right_maximum_output.SP	Torque difference limiting controller speed difference output limit
M_out1_mv	CSF3EM_torque_output_left.AV	Measured torque output left
M_out2_mv	CSF3EM_torque_output_right.AV	Measured torque output right
dM_out12_mv	CSF3EM_torque_difference_output_left_right.AV	Measured torque difference of output left and output right