Feedforward Control

1. Example

Velocity_Control”>http://www.phidgets.com/docs/Linear_Actuator-_Velocity_Control

• In a system where you’re able to predict the behaviour of the parts in that system,
• you can make estimates of what the output of the control loop should be, and adjust accordingly.
• 这里的期望输出是duty cycle，我们可以直接将期望的duty cycle直接给到输出点
• 输入指令

output = (Kp * velocityError) + (Kf * getFF(velocityTarget)) + (Ki * integral);

• gefFF(velocityTarget)将velocityTarget从SensorValue/second转换为estimated duty circle

2. Feed-forward in Position-Velocity Loop