Hi There,
My questions is in regards to the use of a cascaded controller model where by the output of the velocity controller sets the setpoint of the current controller. What I do not understand about this is when velocity tracking and a disturbance is encountered the current controller aims to reduce the output voltage to maintain the current and the velocity controller aims to increase the output voltage (via the current controller) to maintain speed. Due the response of the system this causes an exaggerated tracking error when compared to direct velocity control.
Is there something I am missing here? It would make more sense for the current controller to increase the current setpoint when the current measurement is increased.
Any guidance would be much appreciated.
