5-10Functions55.4 Control SystemIn this section, the position control part, velocity control part, and feed forward of the driver are explained.The block diagram of the control system is shown below.ProportionalcontrolIntegralcontrolPositionintegrallimiting valueDifferentialfeedbackVelocity feedforwardAccelerationfeed forward＋Integral mainswitchVelocitycommandfilterVelocityfeedback filterVelocityproportionalgainFirst order delaycompensationdevice settingNotchfilter 2ChMotormechanicalsystem＃387Motor linearcoordinatecommandvalueMotorpositionVelocitysensorPositionsensor＋＋＋＋－＋－＋－＋＋Positioncurrentvalue filterMotor linear coordinatecurrent value after filteringMotor linear coordinatecurrent positionVelocity value(digital)Velocitycommand valueafter filtering(digital)Velocity currentvalueafter filtering Velocity current valuePulse position current value＃50＃48＃53＃59＃221＃361←＃51＃49＃219，＃220＃152 ＃153，＃154＃155＃360＃356＃355＃388＃321＃384＃366＃365＃363＃364Velocity error(digital)＃365Velocitycontrol partPositioncontrol partFeed forward－＋Position feedforwardMotor linearcoordinatedeviation＃389＃203Pulse position command value＃320Pulse position deviation＃322←＃54＃55＃56
