This information is part of the Modelica Standard Library maintained by the Modelica Association.
This controller has an inner PI-controller to control the motor speed, and an outer P-controller to control the motor position of one axis. The reference signals are with respect to the gear-output, and the gear ratio is used in the controller to determine the motor reference signals. All signals are communicated via the "axisControlBus".
Description: Gain of position controller
Description: Gain of speed controller
Type: Time (s)
Description: Time constant of integrator of speed controller
Description: Gear ratio of gearbox