Conference Paper

Transient Enhancement in Add-On Feedforward Algorithms for High-Performance Mechatronic Systems

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Abstract

In this paper, we analyze the problem of control injection in feedforward compensation, and discuss the transient enhancement in add-on feedforward algorithms. In contrast to the common feedforward injection at the plant input, the updated reference feedforward design is discussed with the advantage of accelerated transient. Such a configuration also brings convenience from the viewpoints of filter implementation and uniformed design in industrial mass production. Two implementation examples are provided from advanced manufacturing and precision motion control.

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... Literature [1][2][3][4][5][6][7][8][9][10][11] and laboratory studies as well as experimental verification determine the possibilities for analytical modeling of the dynamics of FANUC M-430iA / 4FH in the following sequence. The schematic diagram (Fig. 4) of the electric drive (uniform on all axes of the 5-DOF manipulator) with a DC motor with permanent magnet is considered, where the following markings are used: (4) and (5), we reach (6), where s T is the time constant of the motor and sm K is the gain of the motor. ...
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