20 - Feedforward20 filled

20 - Feedforward20 filled - ME575 Handouts Apply...

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ME575 Handouts 1 ME575 Session 20 – Feedforward Compensation School of Mechanical Engineering Purdue University Slide 1 Apply Limitations to IMP Design Apply Limitations to IMP Design • Time Time -Domain Limitations: Domain Limitations: 0 0 0 0 0 e(t)dt 0 e(t)cos t dt 0 e(t)sin t dt 0 = ω = ω = ME575 Session 20 – Feedforward Compensation School of Mechanical Engineering Purdue University Slide 2 Apply Limitations to IMP Design Apply Limitations to IMP Design • Frequency Frequency -Domain Limitations: Domain Limitations: () ( ) ( ) ≥π α + π τ α Ωω −+ ε Ω ω + π Ω ω ε max z i i ih il Si l i h T 1 lnT ln B p, ln 1 p , p , ln ( ) c c 11 ci ic i ii W p, d tan ω −− −ω ⎛⎞⎛⎞ ω −β ω +β ω ω = + ⎜⎟⎜⎟ αα ⎝⎠⎝⎠ ±
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ME575 Handouts 2 ME575 Session 20 – Feedforward Compensation School of Mechanical Engineering Purdue University Slide 3 Triangle Inequality Triangle Inequality S ( j) T ( j) S ( ( j) ω+ ω ≤ ω + ω ME575 Session 20 – Feedforward Compensation School of Mechanical Engineering Purdue University Slide 4 Feedforward for Reference Tracking Feedforward for Reference Tracking D(s) Reference Value U(s) R(s) Controller Plant Y(s) H(s) C(s) 2 G(s) E(s) 1 Closed Closed -Loop System Output due to Reference Input Loop System Output due to Reference Input T(s)H(s)R(s) = Thus, ideally, perfect tracking can be achieved even during the transient if one can choose feedforward transfer function H(s) such that
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ME575 Handouts 3 ME575 Session 20 – Feedforward Compensation School of Mechanical Engineering Purdue University Slide 5 Feedforward for Reference Tracking Feedforward for Reference Tracking In reality, exact inversion may not be possible due to: (1) The CLTF T(s) has unstable CL zeros (2) The inversion 1/T o (s) may not be proper and future
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This note was uploaded on 12/09/2011 for the course ME 575 taught by Professor Meckl during the Fall '10 term at Purdue.

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20 - Feedforward20 filled - ME575 Handouts Apply...

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