Contact US

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!

*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

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

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
and this

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

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

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! Already a Member? Login


Low-Volume Rapid Injection Molding With 3D Printed Molds
Learn methods and guidelines for using stereolithography (SLA) 3D printed molds in the injection molding process to lower costs and lead time. Discover how this hybrid manufacturing process enables on-demand mold fabrication to quickly produce small batches of thermoplastic parts. Download Now
Design for Additive Manufacturing (DfAM)
Examine how the principles of DfAM upend many of the long-standing rules around manufacturability - allowing engineers and designers to place a part’s function at the center of their design considerations. Download Now
Taking Control of Engineering Documents
This ebook covers tips for creating and managing workflows, security best practices and protection of intellectual property, Cloud vs. on-premise software solutions, CAD file management, compliance, and more. Download Now

Close Box

Join Eng-Tips® Today!

Join your peers on the Internet's largest technical engineering professional community.
It's easy to join and it's free.

Here's Why Members Love Eng-Tips Forums:

Register now while it's still free!

Already a member? Close this window and log in.

Join Us             Close