From e69f45e8761b543daf73487232f7f0999750cc5b Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Sat, 14 Dec 2024 00:13:55 +0100 Subject: [PATCH] Update Content - 2024-12-14 --- content/zettels/feedforward_control.md | 3 ++- .../ox-hugo/feedforward_2nd_order_fourier.png | Bin 0 -> 111863 bytes 2 files changed, 2 insertions(+), 1 deletion(-) create mode 100644 static/ox-hugo/feedforward_2nd_order_fourier.png 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. 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