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Measurement-based Feedforward Tuning
|
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 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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