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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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