THE EFFECT OF ADDING ZEROS TO FEEDFORWARD CONTROLLERS

被引：53

作者：

HAACK, B ^{[1
]}

TOMIZUKA, M ^{[1
]}

机构：

[1] UNIV CALIF BERKELEY, DEPT MECH ENGN, BERKELEY, CA 94720 USA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1991年 / 113卷 / 01期

关键词：

D O I：

10.1115/1.2896362

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The effect of adding zeroes to two types of feedforward controllers, stable pole zero cancelling (SPZC) controllers and zero phase error tracking (ZPET) controllers, is discussed. When there are uncancellable zeroes in the feedback system, additional zeroes in the feedforward controller can reduce the tracking and/or the contour error. For multi-axis contouring with mismatched axis dynamics, a ZPET controller cancels the phase error and provides good contouring accuracy. With a SPZC controller which does not cancel the phase lag, the axes can be "matched" for equal phase lag by adding zeroes to the feedforward controller.

引用

页码：6 / 10

页数：5

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