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Update Content - 2024-12-14

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Thomas Dehaeze
2024-12-14 00:13:55 +01:00
parent 234c8fdc73
commit e69f45e876
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content/zettels/feedforward_control.md
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@@ -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)
- <sec:rigid_body_feedforward>
- <sec:fourth_order_feedforward>
- <sec:model_based_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.