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Thomas Dehaeze 2024-12-14 00:13:55 +01:00
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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: 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:rigid_body_feedforward>
- <sec:fourth_order_feedforward> - <sec:fourth_order_feedforward>
- <sec:model_based_feedforward> - <sec:model_based_feedforward>
@ -162,7 +163,7 @@ It therefore depends on:
**2nd order setpoint generation**: **2nd order setpoint generation**:
If we compute the fourier transform of the generated acceleration, we get the following signal (-20db/dec): 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}}}\\). 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. 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. Therefore, the acceleration time constant can be chosen at the inverse of the plant resonance.

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