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Thomas Dehaeze 2024-12-14 00:51:10 +01:00
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content/zettels/feedforward_control.md
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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:fourth_order_feedforward>
- <sec:model_based_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}
<span class="org-target" id="org-target--sec-rigid-body-feedforward"></span>
<span id="sec-rigid-body-feedforward"></span>
Second order trajectory planning: the acceleration and velocity can be bound to wanted values.
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## Fourth Order Feedforward {#fourth-order-feedforward}
<span class="org-target" id="org-target--sec-fourth-order-feedforward"></span>
<span id="sec-fourth-order-feedforward"></span>
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}
<span class="org-target" id="org-target--sec-model-based-feedforward"></span>
<span id="sec-model-based-feedforward"></span>
See <&schmidt20_desig_high_perfor_mechat_third_revis_edition> (Section 4.2.1).