> dear Nicklas, > > of course, feedforwards are utilized (and well parametrized) in the *drives*, > otherwise excessive tracking errors appear. > > But this is done in the *drive*, *not* in OpenCN. > OpenCN calculates physically realizable setpoint values (according to > "optimal control theory").
Sounds really good. Physical realisable will be movement calculated with feedforward of maximum and minimum voltage with a perfect model, sounds simple but to calculate then it is time to slow down to exactly hit a point running at the limits is suprisingly hard to get correct for all cases. Then there must be some room for the control law. You have gone further and included unperfect model and dynamics from the feedback in some way or other? Regards Nicklas Karlsson _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
