Measurement-based Feedforward Tuning

Several methods of Measurement-based Feedforward Tuning are presented below. In each method, some type of motion is created, and the resultant motion and torque command are recorded. The data can then be used to calculate the feedforward coefficients. However, each method uses different principles to find the feedforward coefficients.

Measurement-based Tuning has been broken up into four main sections:

Property	Closed Loop Tuning Required?	Motion Required	Complexity	Tunes which feedforward?
Friction Feedforward	No	Very Small	Simple	Friction
Acceleration Feedforward	Yes	Medium	Moderately Simple	Acceleration
Velocity Feedforward	No	Very Large	Moderately Difficult	Velocity, Friction
Alternative Methods Based on a Single Move	Yes	Medium	Moderately Difficult	Acceleration

Before You Start

Before you start to use a Measurement-based Feedforward Tuning method, you must first determine which method is the most appropriate for your system. For example, for a system that has very little travel, you should use a method that is doesn't require large travel to determine the feedforward coefficients, such as Friction Feedforward. Use the table above to figure out which methods are best suited for your particular system.

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