Control chain diagrams 293Speed controller25.04 Derivation time25.05 Derivation filter time25.02 Proportional gain25.15 Proportional gain em stop24.46 Speed error step25.53 Torque prop reference25.54 Torque integ reference25.55 Torque der reference25.56 Torque acc compensationValueValueValueValueValueValuexValueValueValueValue25.03 Integration time Value25.10 Speed ctrl balance reference25.09 Speed ctrl balance enable25.11 Min torque speed control ValueValue25.12 Max torque speed controlValueSelection>25.08 Drooping rate PIDValue 25.57 Torque reference unbalanced-++Speed regulatorValue24.03 Speed error filtered25.01 Torque reference speed controlValueANDStop command
