Hello i want to start a "project practice" from 0 during my "empty hours at work"
Where i work i have a lot of production lines where from start-end the speed must be synchronized.

Let's say we have 20 motors and depending of the Dancers tension, the speed of each zone changes so the machine always has the product liner in a good tension  where ends in a winder.

What i want to do is: i want to recreate the dancer process using a PID to understand it better, a dancer where it's position is  let's say from 1-10v, the normal working position it's 4v and once i press it or changes position, the motor speed change.

for now i grabbed a small engine, a s1500, driver g120c with AI and i will mechanize a dancer with a air piston.
I already have the automation hardware wired and working as i did some practices with the driver(sina speed, telegrams etc..) 

What i would like is to know how or from where i can start the project. i tried to see if i can copy something with one of our big production lines  that works with 4 CU320 with 6 s120 each, but as i'm not a programmer i find it really hard to understand the working concept to copy it in a fresh project.

So right now i'm here asking about how i can control the tension/speed via PID.

i'm just a motivated electromechanic working in maintenance but i want to learn as much as i can, and if i have empty hours that i can use for learning i will try to do it, still searching for it.

thank you.