Hello everyone, does anyone among us know of this kind of control loop, I read the report but it does not describe this loop in a global and simple way, if anyone knows this kind of control system, I would like to have his analysis.

https://www.google.com/url?sa=t&rct...709/document&usg=AOvVaw0N702XOZ2bR07FxEcIQxgN
Thanks

 

The system is a dual loop PD controller with an inner velocity gain and an outer proportional gain The output of the Kp term is intended to be a reference for the velocity loop. This system is very simplistic. It isn't clear what the author is trying to do with the pulses. The output from gtau is a torque that is converted to a force by the lead screw that accelerates the mass. The acceleration is integrated to get velocity and again to get position. The way the position is differentiated is very noise prone as seen on the plots.

The IDIM-LS is not the best way to do system identification. It is susceptible to noise.

What are you really trying to get from this document. It is clear to me the authors have no real experience in a real industrial application.