×
INTELLIGENT WORK FORUMS
FOR ENGINEERING PROFESSIONALS

Log In

Come Join Us!

Are you an
Engineering professional?
Join Eng-Tips Forums!
  • Talk With Other Members
  • Be Notified Of Responses
    To Your Posts
  • Keyword Search
  • One-Click Access To Your
    Favorite Forums
  • Automated Signatures
    On Your Posts
  • Best Of All, It's Free!
  • Students Click Here

*Eng-Tips's functionality depends on members receiving e-mail. By joining you are opting in to receive e-mail.

Posting Guidelines

Promoting, selling, recruiting, coursework and thesis posting is forbidden.

Students Click Here

Jobs

Cascaded torque (outer loop) and current (inner loop) control

Cascaded torque (outer loop) and current (inner loop) control

Cascaded torque (outer loop) and current (inner loop) control

(OP)
Dear All,
I am wondering if it okay to have cascaded torque and current control loops to control the torque of a system driven by DC motor. The torque control will be the outer loop and has the set torque value and the current is the inner control loop on the DC motor. Is that okay? or it is better to have one control loop only for example the current loop and use the motor characteristics to estimate the system torque. I am looking forward to hear your suggestions

RE: Cascaded torque (outer loop) and current (inner loop) control

The torque is almost directly proportional to the current. I don't see where you need cascaded control loops.

How would you measure the torque?

I would look at this
http://ctms.engin.umich.edu/CTMS/index.php?example...
and this
http://deltamotion.com/peter/Mathcad/Mathcad%20-%2...

What are you really trying to do? The usual example for torque control is controlling the tension on a winding application.

Peter Nachtwey
Delta Computer Systems
http://www.deltamotion.com
http://forum.deltamotion.com/

RE: Cascaded torque (outer loop) and current (inner loop) control

(OP)
Hello,
I have torque sensor based on strain gauges. I use it to measure the torque directly. I have a robot and I want to do torque control on its joints

Red Flag This Post

Please let us know here why this post is inappropriate. Reasons such as off-topic, duplicates, flames, illegal, vulgar, or students posting their homework.

Red Flag Submitted

Thank you for helping keep Eng-Tips Forums free from inappropriate posts.
The Eng-Tips staff will check this out and take appropriate action.

Reply To This Thread

Posting in the Eng-Tips forums is a member-only feature.

Click Here to join Eng-Tips and talk with other members!


Resources