Perhaps the wrong ng, but I know I'm amongst well-informed friends here, so please forgive me if so.
I need to become an overnight expert in driving (smallish, DC) motors, with particular emphasis on smoothness and control of the acceleration/deceleration profile, for a mechatronics/robotics application. I have a background in PID control, and analogue/power electronics, so I'm not a total novice - but the sample rates I now need are orders of magnitude higher than I have experience of. I also need very high resolution, probably using absolute encoders (e.g. Stegmann/Hiperface et al).
I've tried, and failed, to find one or more killer reference books ("Dummies Guide to Motion Control" or something ;)). I've googled and found *some* material, but so far without the detail I need. Could any kind soul point me at a source of detailed data on the subject?
One particular question - why do certain motor controllers need both an encoder (for position) and a tacho (for speed) input to the control system? Or is this only common when the final axis of rotation is > 360 degrees?