Re: speed control of DC motor with inner current control loo
Torque has a close relationship to current, so the inner loop regulates the torque. The setpoint for the torque is derived from the speed controller. So the speed controller asks for a torque needed to maintain a certain speed.
Dividing the control loop in stages like this has the advantage that every loop can be optimised on its own (if the inner loop has a much bigger bandwidth than the outer loop). It should be easier to create a stable system.