Model-based feedforward for motion systems
نویسندگان
چکیده
This paper considers model-based feedforward for motion systems. The proposed feedforward controller consists of an acceleration feedforward part and an inverse dynamics model of flexible modes. Based on analysis and H∞ model-based feedforward design, the inverse dynamics part can be restricted to a second order filter in the form of a skew notch even if the motion system has more parasitic modes. The benefit of this is an on-line tuning possibility. Tracking errors and settling times can be reduced significantly compared to acceleration feedforward.
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