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Must DC motor position control need volecity control loop?

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bittware

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position control loop

Hello experts,
In my application, I only used a quadrature encoder as my DC motor feedback which then minus with command position value generating position error. I used this error value to drive a PID unit by which the motor was driven. But after having tuned several PID values, the effect was not good. So I wonder whether it is because I ignored the volecity feedback. Here I want to get some prompt from you experts. Must DC motor position control need volecity control loop? If no, under what circumstance volecity loop can be ignored? If yes, what will happen if I ommitted such loop? :roll:

Thank you in advance.
 

velocity and position control dc motor

Hello bittware,
Using a velocity loop you can follow a triangular, trapezoidal or parabolic velocity profile. Using no velocity loop usually causes drive saturation and you can only start decceleration when the computed error times proportional gain and any remaining integral term returns to linear region, when you are too close to final position.
Besides, adding a velocity loop changes the control structure and tends to stabilize the system.
Hope this helps.
 

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