diff --git a/content/zettels/feedforward_control.md b/content/zettels/feedforward_control.md index 702afce..66b7476 100644 --- a/content/zettels/feedforward_control.md +++ b/content/zettels/feedforward_control.md @@ -9,6 +9,7 @@ Tags Depending on the physical system to be controlled, several feedforward controllers can be used: +- [Rigid Body Feedforward](#rigid-body-feedforward) - - - @@ -162,7 +163,7 @@ It therefore depends on: **2nd order setpoint generation**: If we compute the fourier transform of the generated acceleration, we get the following signal (-20db/dec): -![](figs/feedforward_2nd_order_fourier.png) +![](/ox-hugo/feedforward_2nd_order_fourier.png) Notches are at \\(f\_1\\), \\(2f\_1\\), \\(3f\_1\\), ... with \\(f\_1 = \frac{a\_{\text{max}}}{v\_{\text{max}}}\\). It is therefore possible to choose the velocity and acceleration such that \\(f\_1\\) (or one of its integral multiple) matches the resonance frequency of the system. Therefore, the acceleration time constant can be chosen at the inverse of the plant resonance. diff --git a/static/ox-hugo/feedforward_2nd_order_fourier.png b/static/ox-hugo/feedforward_2nd_order_fourier.png new file mode 100644 index 0000000..f81ca1d Binary files /dev/null and b/static/ox-hugo/feedforward_2nd_order_fourier.png differ