There are two kinds of feedforward, one is the feedforward of the controlled output, which is an open-loop structure. The output is calculated according to the model, and it is directly given to the plant to improve the dynamic response of the system.
There is also a kind of feedforward that compensates for external disturbances
ITAE is the knowledge of optimization control theory, I am not familiar with frequency response
The curves in #1, #7, #11, #23, #28 are generated by the RMC simulator for training or instruction. I am showing how to tune a system. I do not have a hydraulic system by my desk. My pictures are usually simulated.
This is a video of my system down in our hydraulic training area.
This is real as you can see.
https://deltamotion.com/peter/Videos/NF-FOA.mp4
Velocity, acceleration and jerk feed forwards should be used.
To use jerk feedforward a motion trajectory, like in #36, is necessary.
This is very good.
It is hard to tell. It is best to display the control signal.
It doesn’t look like acceleration and jerk feedforward are used.
The derivative of the acceleration at time 0 is not 0 like in #36.
The motion profile in #36 is very hard to compute. It is even harder if the user decides to change the trajectory during motion. This math cannot be done on a PLC.
[复制链接]
IP卡
狗仔卡
楼主
发表于 2021-10-4 09:52:22
发表于 2021-10-30 16:48:15
