| 摘要 |
A method and apparatus for automatically tuning feedforward parameters is provided, such that feedforward commands can be generated and used in addition to traditional control commands to compensate for known system characteristics. In an exemplary embodiment, feedforward gains are automatically determined after moving an actuator controlled axis, such as a motor imparting motion to a linear slide, through a test motion routine and recording operation data associated with the actuator and axis during the movement. The operation data can include velocity measurements and torque commands. The feedforward gains which are tuned can include a Coulomb friction feedforward gain, a viscous friction feedforward gain, a constant offset feedforward gain, an acceleration feedforward gain, and estimates of velocity loop compensator gains. Capability can also be provided for automatic generation of the test motion routine based upon actuator limit values provided by the user.
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