POSITIONING SYSTEM EMPLOYING FEEDFORWARD AND FEEDBACK CONTROL

摘要

POSITIONING SYSTEM EMPLOYING FEEDFORWARD AND FEEDBACK CONTROL A positioning system for moving a member between positions in time optimal fashion employs concurrent feedforward and feedback control. The feedforward control system provides coarse control and the feedback control system provides fine control to correct for deviations between the actual and a nominal system. The feedback loop may thus be of low bandwidth permitting desensitization to high frequency disturbances or the employment of inherently low bandwidth controlled variables. The feedforward control function includes successive portions of opposite polarity corresponding to acceleration and deceleration of the member and also includes a subtractive velocity related component. This function represents the approximate input to an electromagnetic coil actuator of a nominal system required to move such a member between positions in time optimal fashion.