From 149e14bd94e8018ea487a8224092b1d4bc741c91 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Sat, 14 Dec 2024 00:51:10 +0100 Subject: [PATCH] Update Content - 2024-12-14 --- content/zettels/feedforward_control.md | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/content/zettels/feedforward_control.md b/content/zettels/feedforward_control.md index 8def568..40859f6 100644 --- a/content/zettels/feedforward_control.md +++ b/content/zettels/feedforward_control.md @@ -9,15 +9,14 @@ Tags Depending on the physical system to be controlled, several feedforward controllers can be used: -- [Rigid Body Feedforward](#sec:rigid-body-feedforward) -- -- -- +- [sec:rigid_body_feedforward](#sec:rigid_body_feedforward) +- [sec:fourth_order_feedforward](#sec:fourth_order_feedforward) +- [sec:model_based_feedforward](#sec:model_based_feedforward) ## Rigid Body Feedforward {#sec:rigid-body-feedforward} - + Second order trajectory planning: the acceleration and velocity can be bound to wanted values. @@ -37,7 +36,7 @@ F\_{ff} = m a + c v ## Fourth Order Feedforward {#fourth-order-feedforward} - + The main advantage of "fourth order feedforward" is that it takes into account the flexibility in the system (one resonance between the actuation point and the measurement point, see Figure [2](#figure--fig:feedforward-double-mass-system)). This can lead to better results than second order trajectory planning as demonstrated [here](https://www.20sim.com/control-engineering/snap-feedforward/). @@ -111,7 +110,7 @@ In order to implement a fourth order trajectory, look at [this](https://www.math ## Model Based Feedforward Control for Second Order resonance plant {#model-based-feedforward-control-for-second-order-resonance-plant} - + See <&schmidt20_desig_high_perfor_mechat_third_revis_edition> (Section 4.2.1).